Reverting all changes from Invensense MotionApps patches

Change-Id: Iec2359e6f39a6c4dd34b3feb4a85f563165ba255

15 files changed, 4369 insertions, 0 deletions

diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
new file mode 100644
index 00000000000..4f40a10cb74
--- /dev/null
+++ b/drivers/iio/imu/Kconfig
@@ -0,0 +1,40 @@
+#
+# IIO imu drivers configuration
+#
+menu "Inertial measurement units"
+
+config ADIS16400
+	tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
+	depends on SPI
+	select IIO_ADIS_LIB
+	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+	help
+	  Say yes here to build support for Analog Devices adis16300, adis16344,
+	  adis16350, adis16354, adis16355, adis16360, adis16362, adis16364,
+	  adis16365, adis16400 and adis16405 triaxial inertial sensors
+	  (adis16400 series also have magnetometers).
+
+config ADIS16480
+	tristate "Analog Devices ADIS16480 and similar IMU driver"
+	depends on SPI
+	select IIO_ADIS_LIB
+	select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
+	help
+	  Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
+	  ADIS16485, ADIS16488 inertial sensors.
+
+endmenu
+
+config IIO_ADIS_LIB
+	tristate
+	help
+	  A set of IO helper functions for the Analog Devices ADIS* device family.
+
+config IIO_ADIS_LIB_BUFFER
+	bool
+	select IIO_TRIGGERED_BUFFER
+	help
+	  A set of buffer helper functions for the Analog Devices ADIS* device
+	  family.
+
+source "drivers/iio/imu/inv_mpu6050/Kconfig"
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
new file mode 100644
index 00000000000..f2f56ceaed2
--- /dev/null
+++ b/drivers/iio/imu/Makefile
@@ -0,0 +1,15 @@
+#
+# Makefile for Inertial Measurement Units
+#
+
+adis16400-y             := adis16400_core.o
+adis16400-$(CONFIG_IIO_BUFFER) += adis16400_buffer.o
+obj-$(CONFIG_ADIS16400) += adis16400.o
+obj-$(CONFIG_ADIS16480) += adis16480.o
+
+adis_lib-y += adis.o
+adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o
+adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
+obj-$(CONFIG_IIO_ADIS_LIB) += adis_lib.o
+
+obj-y += inv_mpu6050/
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
new file mode 100644
index 00000000000..911255d41c1
--- /dev/null
+++ b/drivers/iio/imu/adis.c
@@ -0,0 +1,440 @@
+/*
+ * Common library for ADIS16XXX devices
+ *
+ * Copyright 2012 Analog Devices Inc.
+ *   Author: Lars-Peter Clausen <lars@metafoo.de>
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/module.h>
+#include <asm/unaligned.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS_MSC_CTRL_DATA_RDY_EN	BIT(2)
+#define ADIS_MSC_CTRL_DATA_RDY_POL_HIGH	BIT(1)
+#define ADIS_MSC_CTRL_DATA_RDY_DIO2	BIT(0)
+#define ADIS_GLOB_CMD_SW_RESET		BIT(7)
+
+int adis_write_reg(struct adis *adis, unsigned int reg,
+	unsigned int value, unsigned int size)
+{
+	unsigned int page = reg / ADIS_PAGE_SIZE;
+	int ret, i;
+	struct spi_message msg;
+	struct spi_transfer xfers[] = {
+		{
+			.tx_buf = adis->tx,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = adis->data->write_delay,
+		}, {
+			.tx_buf = adis->tx + 2,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = adis->data->write_delay,
+		}, {
+			.tx_buf = adis->tx + 4,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = adis->data->write_delay,
+		}, {
+			.tx_buf = adis->tx + 6,
+			.bits_per_word = 8,
+			.len = 2,
+			.delay_usecs = adis->data->write_delay,
+		}, {
+			.tx_buf = adis->tx + 8,
+			.bits_per_word = 8,
+			.len = 2,
+			.delay_usecs = adis->data->write_delay,
+		},
+	};
+
+	mutex_lock(&adis->txrx_lock);
+
+	spi_message_init(&msg);
+
+	if (adis->current_page != page) {
+		adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
+		adis->tx[1] = page;
+		spi_message_add_tail(&xfers[0], &msg);
+	}
+
+	switch (size) {
+	case 4:
+		adis->tx[8] = ADIS_WRITE_REG(reg + 3);
+		adis->tx[9] = (value >> 24) & 0xff;
+		adis->tx[6] = ADIS_WRITE_REG(reg + 2);
+		adis->tx[7] = (value >> 16) & 0xff;
+	case 2:
+		adis->tx[4] = ADIS_WRITE_REG(reg + 1);
+		adis->tx[5] = (value >> 8) & 0xff;
+	case 1:
+		adis->tx[2] = ADIS_WRITE_REG(reg);
+		adis->tx[3] = value & 0xff;
+		break;
+	default:
+		ret = -EINVAL;
+		goto out_unlock;
+	}
+
+	xfers[size].cs_change = 0;
+
+	for (i = 1; i <= size; i++)
+		spi_message_add_tail(&xfers[i], &msg);
+
+	ret = spi_sync(adis->spi, &msg);
+	if (ret) {
+		dev_err(&adis->spi->dev, "Failed to write register 0x%02X: %d\n",
+				reg, ret);
+	} else {
+		adis->current_page = page;
+	}
+
+out_unlock:
+	mutex_unlock(&adis->txrx_lock);
+
+	return ret;
+}
+EXPORT_SYMBOL_GPL(adis_write_reg);
+
+/**
+ * adis_read_reg() - read 2 bytes from a 16-bit register
+ * @adis: The adis device
+ * @reg: The address of the lower of the two registers
+ * @val: The value read back from the device
+ */
+int adis_read_reg(struct adis *adis, unsigned int reg,
+	unsigned int *val, unsigned int size)
+{
+	unsigned int page = reg / ADIS_PAGE_SIZE;
+	struct spi_message msg;
+	int ret;
+	struct spi_transfer xfers[] = {
+		{
+			.tx_buf = adis->tx,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = adis->data->write_delay,
+		}, {
+			.tx_buf = adis->tx + 2,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = adis->data->read_delay,
+		}, {
+			.tx_buf = adis->tx + 4,
+			.rx_buf = adis->rx,
+			.bits_per_word = 8,
+			.len = 2,
+			.cs_change = 1,
+			.delay_usecs = adis->data->read_delay,
+		}, {
+			.rx_buf = adis->rx + 2,
+			.bits_per_word = 8,
+			.len = 2,
+			.delay_usecs = adis->data->read_delay,
+		},
+	};
+
+	mutex_lock(&adis->txrx_lock);
+	spi_message_init(&msg);
+
+	if (adis->current_page != page) {
+		adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
+		adis->tx[1] = page;
+		spi_message_add_tail(&xfers[0], &msg);
+	}
+
+	switch (size) {
+	case 4:
+		adis->tx[2] = ADIS_READ_REG(reg + 2);
+		adis->tx[3] = 0;
+		spi_message_add_tail(&xfers[1], &msg);
+	case 2:
+		adis->tx[4] = ADIS_READ_REG(reg);
+		adis->tx[5] = 0;
+		spi_message_add_tail(&xfers[2], &msg);
+		spi_message_add_tail(&xfers[3], &msg);
+		break;
+	default:
+		ret = -EINVAL;
+		goto out_unlock;
+	}
+
+	ret = spi_sync(adis->spi, &msg);
+	if (ret) {
+		dev_err(&adis->spi->dev, "Failed to read register 0x%02X: %d\n",
+				reg, ret);
+		goto out_unlock;
+	} else {
+		adis->current_page = page;
+	}
+
+	switch (size) {
+	case 4:
+		*val = get_unaligned_be32(adis->rx);
+		break;
+	case 2:
+		*val = get_unaligned_be16(adis->rx + 2);
+		break;
+	}
+
+out_unlock:
+	mutex_unlock(&adis->txrx_lock);
+
+	return ret;
+}
+EXPORT_SYMBOL_GPL(adis_read_reg);
+
+#ifdef CONFIG_DEBUG_FS
+
+int adis_debugfs_reg_access(struct iio_dev *indio_dev,
+	unsigned int reg, unsigned int writeval, unsigned int *readval)
+{
+	struct adis *adis = iio_device_get_drvdata(indio_dev);
+
+	if (readval) {
+		uint16_t val16;
+		int ret;
+
+		ret = adis_read_reg_16(adis, reg, &val16);
+		*readval = val16;
+
+		return ret;
+	} else {
+		return adis_write_reg_16(adis, reg, writeval);
+	}
+}
+EXPORT_SYMBOL(adis_debugfs_reg_access);
+
+#endif
+
+/**
+ * adis_enable_irq() - Enable or disable data ready IRQ
+ * @adis: The adis device
+ * @enable: Whether to enable the IRQ
+ *
+ * Returns 0 on success, negative error code otherwise
+ */
+int adis_enable_irq(struct adis *adis, bool enable)
+{
+	int ret = 0;
+	uint16_t msc;
+
+	if (adis->data->enable_irq)
+		return adis->data->enable_irq(adis, enable);
+
+	ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
+	if (ret)
+		goto error_ret;
+
+	msc |= ADIS_MSC_CTRL_DATA_RDY_POL_HIGH;
+	msc &= ~ADIS_MSC_CTRL_DATA_RDY_DIO2;
+	if (enable)
+		msc |= ADIS_MSC_CTRL_DATA_RDY_EN;
+	else
+		msc &= ~ADIS_MSC_CTRL_DATA_RDY_EN;
+
+	ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg, msc);
+
+error_ret:
+	return ret;
+}
+EXPORT_SYMBOL(adis_enable_irq);
+
+/**
+ * adis_check_status() - Check the device for error conditions
+ * @adis: The adis device
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int adis_check_status(struct adis *adis)
+{
+	uint16_t status;
+	int ret;
+	int i;
+
+	ret = adis_read_reg_16(adis, adis->data->diag_stat_reg, &status);
+	if (ret < 0)
+		return ret;
+
+	status &= adis->data->status_error_mask;
+
+	if (status == 0)
+		return 0;
+
+	for (i = 0; i < 16; ++i) {
+		if (status & BIT(i)) {
+			dev_err(&adis->spi->dev, "%s.\n",
+				adis->data->status_error_msgs[i]);
+		}
+	}
+
+	return -EIO;
+}
+EXPORT_SYMBOL_GPL(adis_check_status);
+
+/**
+ * adis_reset() - Reset the device
+ * @adis: The adis device
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int adis_reset(struct adis *adis)
+{
+	int ret;
+
+	ret = adis_write_reg_8(adis, adis->data->glob_cmd_reg,
+			ADIS_GLOB_CMD_SW_RESET);
+	if (ret)
+		dev_err(&adis->spi->dev, "Failed to reset device: %d\n", ret);
+
+	return ret;
+}
+EXPORT_SYMBOL_GPL(adis_reset);
+
+static int adis_self_test(struct adis *adis)
+{
+	int ret;
+
+	ret = adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
+			adis->data->self_test_mask);
+	if (ret) {
+		dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
+			ret);
+		return ret;
+	}
+
+	msleep(adis->data->startup_delay);
+
+	return adis_check_status(adis);
+}
+
+/**
+ * adis_inital_startup() - Performs device self-test
+ * @adis: The adis device
+ *
+ * Returns 0 if the device is operational, a negative error code otherwise.
+ *
+ * This function should be called early on in the device initialization sequence
+ * to ensure that the device is in a sane and known state and that it is usable.
+ */
+int adis_initial_startup(struct adis *adis)
+{
+	int ret;
+
+	ret = adis_self_test(adis);
+	if (ret) {
+		dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
+		adis_reset(adis);
+		msleep(adis->data->startup_delay);
+		ret = adis_self_test(adis);
+		if (ret) {
+			dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
+			return ret;
+		}
+	}
+
+	return 0;
+}
+EXPORT_SYMBOL_GPL(adis_initial_startup);
+
+/**
+ * adis_single_conversion() - Performs a single sample conversion
+ * @indio_dev: The IIO device
+ * @chan: The IIO channel
+ * @error_mask: Mask for the error bit
+ * @val: Result of the conversion
+ *
+ * Returns IIO_VAL_INT on success, a negative error code otherwise.
+ *
+ * The function performs a single conversion on a given channel and post
+ * processes the value accordingly to the channel spec. If a error_mask is given
+ * the function will check if the mask is set in the returned raw value. If it
+ * is set the function will perform a self-check. If the device does not report
+ * a error bit in the channels raw value set error_mask to 0.
+ */
+int adis_single_conversion(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, unsigned int error_mask, int *val)
+{
+	struct adis *adis = iio_device_get_drvdata(indio_dev);
+	unsigned int uval;
+	int ret;
+
+	mutex_lock(&indio_dev->mlock);
+
+	ret = adis_read_reg(adis, chan->address, &uval,
+			chan->scan_type.storagebits / 8);
+	if (ret)
+		goto err_unlock;
+
+	if (uval & error_mask) {
+		ret = adis_check_status(adis);
+		if (ret)
+			goto err_unlock;
+	}
+
+	if (chan->scan_type.sign == 's')
+		*val = sign_extend32(uval, chan->scan_type.realbits - 1);
+	else
+		*val = uval & ((1 << chan->scan_type.realbits) - 1);
+
+	ret = IIO_VAL_INT;
+err_unlock:
+	mutex_unlock(&indio_dev->mlock);
+	return ret;
+}
+EXPORT_SYMBOL_GPL(adis_single_conversion);
+
+/**
+ * adis_init() - Initialize adis device structure
+ * @adis:	The adis device
+ * @indio_dev:	The iio device
+ * @spi:	The spi device
+ * @data:	Chip specific data
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ *
+ * This function must be called, before any other adis helper function may be
+ * called.
+ */
+int adis_init(struct adis *adis, struct iio_dev *indio_dev,
+	struct spi_device *spi, const struct adis_data *data)
+{
+	mutex_init(&adis->txrx_lock);
+	adis->spi = spi;
+	adis->data = data;
+	iio_device_set_drvdata(indio_dev, adis);
+
+	if (data->has_paging) {
+		/* Need to set the page before first read/write */
+		adis->current_page = -1;
+	} else {
+		/* Page will always be 0 */
+		adis->current_page = 0;
+	}
+
+	return adis_enable_irq(adis, false);
+}
+EXPORT_SYMBOL_GPL(adis_init);
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
+MODULE_DESCRIPTION("Common library code for ADIS16XXX devices");
diff --git a/drivers/iio/imu/adis16400.h b/drivers/iio/imu/adis16400.h
new file mode 100644
index 00000000000..2f8f9d63238
--- /dev/null
+++ b/drivers/iio/imu/adis16400.h
@@ -0,0 +1,212 @@
+/*
+ * adis16400.h	support Analog Devices ADIS16400
+ *		3d 18g accelerometers,
+ *		3d gyroscopes,
+ *		3d 2.5gauss magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
+ *
+ * Loosely based upon lis3l02dq.h
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ */
+
+#ifndef SPI_ADIS16400_H_
+#define SPI_ADIS16400_H_
+
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16400_STARTUP_DELAY	290 /* ms */
+#define ADIS16400_MTEST_DELAY 90 /* ms */
+
+#define ADIS16400_FLASH_CNT  0x00 /* Flash memory write count */
+#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
+#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
+#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
+#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
+#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
+#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
+#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
+#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
+#define ADIS16400_TEMP_OUT  0x16 /* Temperature output */
+#define ADIS16400_AUX_ADC   0x18 /* Auxiliary ADC measurement */
+
+#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
+#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
+#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
+
+#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
+#define ADIS16300_ROLL_OUT  0x14 /* Y axis inclinometer output measurement */
+#define ADIS16300_AUX_ADC   0x16 /* Auxiliary ADC measurement */
+
+#define ADIS16448_BARO_OUT	0x16 /* Barometric pressure output */
+#define ADIS16448_TEMP_OUT  0x18 /* Temperature output */
+
+/* Calibration parameters */
+#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
+#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
+#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
+#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
+#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
+#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
+#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
+#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
+#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
+#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
+#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
+#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
+
+#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
+#define ADIS16400_MSC_CTRL  0x34 /* Miscellaneous control */
+#define ADIS16400_SMPL_PRD  0x36 /* Internal sample period (rate) control */
+#define ADIS16400_SENS_AVG  0x38 /* Dynamic range and digital filter control */
+#define ADIS16400_SLP_CNT   0x3A /* Sleep mode control */
+#define ADIS16400_DIAG_STAT 0x3C /* System status */
+
+/* Alarm functions */
+#define ADIS16400_GLOB_CMD  0x3E /* System command */
+#define ADIS16400_ALM_MAG1  0x40 /* Alarm 1 amplitude threshold */
+#define ADIS16400_ALM_MAG2  0x42 /* Alarm 2 amplitude threshold */
+#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
+#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
+#define ADIS16400_ALM_CTRL  0x48 /* Alarm control */
+#define ADIS16400_AUX_DAC   0x4A /* Auxiliary DAC data */
+
+#define ADIS16334_LOT_ID1   0x52 /* Lot identification code 1 */
+#define ADIS16334_LOT_ID2   0x54 /* Lot identification code 2 */
+#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
+#define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
+
+#define ADIS16400_ERROR_ACTIVE			(1<<14)
+#define ADIS16400_NEW_DATA			(1<<14)
+
+/* MSC_CTRL */
+#define ADIS16400_MSC_CTRL_MEM_TEST		(1<<11)
+#define ADIS16400_MSC_CTRL_INT_SELF_TEST	(1<<10)
+#define ADIS16400_MSC_CTRL_NEG_SELF_TEST	(1<<9)
+#define ADIS16400_MSC_CTRL_POS_SELF_TEST	(1<<8)
+#define ADIS16400_MSC_CTRL_GYRO_BIAS		(1<<7)
+#define ADIS16400_MSC_CTRL_ACCL_ALIGN		(1<<6)
+#define ADIS16400_MSC_CTRL_DATA_RDY_EN		(1<<2)
+#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH	(1<<1)
+#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2	(1<<0)
+
+/* SMPL_PRD */
+#define ADIS16400_SMPL_PRD_TIME_BASE	(1<<7)
+#define ADIS16400_SMPL_PRD_DIV_MASK	0x7F
+
+/* DIAG_STAT */
+#define ADIS16400_DIAG_STAT_ZACCL_FAIL	15
+#define ADIS16400_DIAG_STAT_YACCL_FAIL	14
+#define ADIS16400_DIAG_STAT_XACCL_FAIL	13
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL	12
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL	11
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL	10
+#define ADIS16400_DIAG_STAT_ALARM2	9
+#define ADIS16400_DIAG_STAT_ALARM1	8
+#define ADIS16400_DIAG_STAT_FLASH_CHK	6
+#define ADIS16400_DIAG_STAT_SELF_TEST	5
+#define ADIS16400_DIAG_STAT_OVERFLOW	4
+#define ADIS16400_DIAG_STAT_SPI_FAIL	3
+#define ADIS16400_DIAG_STAT_FLASH_UPT	2
+#define ADIS16400_DIAG_STAT_POWER_HIGH	1
+#define ADIS16400_DIAG_STAT_POWER_LOW	0
+
+/* GLOB_CMD */
+#define ADIS16400_GLOB_CMD_SW_RESET	(1<<7)
+#define ADIS16400_GLOB_CMD_P_AUTO_NULL	(1<<4)
+#define ADIS16400_GLOB_CMD_FLASH_UPD	(1<<3)
+#define ADIS16400_GLOB_CMD_DAC_LATCH	(1<<2)
+#define ADIS16400_GLOB_CMD_FAC_CALIB	(1<<1)
+#define ADIS16400_GLOB_CMD_AUTO_NULL	(1<<0)
+
+/* SLP_CNT */
+#define ADIS16400_SLP_CNT_POWER_OFF	(1<<8)
+
+#define ADIS16334_RATE_DIV_SHIFT 8
+#define ADIS16334_RATE_INT_CLK BIT(0)
+
+#define ADIS16400_SPI_SLOW	(u32)(300 * 1000)
+#define ADIS16400_SPI_BURST	(u32)(1000 * 1000)
+#define ADIS16400_SPI_FAST	(u32)(2000 * 1000)
+
+#define ADIS16400_HAS_PROD_ID		BIT(0)
+#define ADIS16400_NO_BURST		BIT(1)
+#define ADIS16400_HAS_SLOW_MODE		BIT(2)
+#define ADIS16400_HAS_SERIAL_NUMBER	BIT(3)
+
+struct adis16400_state;
+
+struct adis16400_chip_info {
+	const struct iio_chan_spec *channels;
+	const int num_channels;
+	const long flags;
+	unsigned int gyro_scale_micro;
+	unsigned int accel_scale_micro;
+	int temp_scale_nano;
+	int temp_offset;
+	int (*set_freq)(struct adis16400_state *st, unsigned int freq);
+	int (*get_freq)(struct adis16400_state *st);
+};
+
+/**
+ * struct adis16400_state - device instance specific data
+ * @variant:	chip variant info
+ * @filt_int:	integer part of requested filter frequency
+ * @adis:	adis device
+ **/
+struct adis16400_state {
+	struct adis16400_chip_info	*variant;
+	int				filt_int;
+
+	struct adis adis;
+};
+
+/* At the moment triggers are only used for ring buffer
+ * filling. This may change!
+ */
+
+enum {
+	ADIS16400_SCAN_SUPPLY,
+	ADIS16400_SCAN_GYRO_X,
+	ADIS16400_SCAN_GYRO_Y,
+	ADIS16400_SCAN_GYRO_Z,
+	ADIS16400_SCAN_ACC_X,
+	ADIS16400_SCAN_ACC_Y,
+	ADIS16400_SCAN_ACC_Z,
+	ADIS16400_SCAN_MAGN_X,
+	ADIS16400_SCAN_MAGN_Y,
+	ADIS16400_SCAN_MAGN_Z,
+	ADIS16400_SCAN_BARO,
+	ADIS16350_SCAN_TEMP_X,
+	ADIS16350_SCAN_TEMP_Y,
+	ADIS16350_SCAN_TEMP_Z,
+	ADIS16300_SCAN_INCLI_X,
+	ADIS16300_SCAN_INCLI_Y,
+	ADIS16400_SCAN_ADC,
+};
+
+#ifdef CONFIG_IIO_BUFFER
+
+ssize_t adis16400_read_data_from_ring(struct device *dev,
+				      struct device_attribute *attr,
+				      char *buf);
+
+
+int adis16400_update_scan_mode(struct iio_dev *indio_dev,
+	const unsigned long *scan_mask);
+irqreturn_t adis16400_trigger_handler(int irq, void *p);
+
+#else /* CONFIG_IIO_BUFFER */
+
+#define adis16400_update_scan_mode NULL
+#define adis16400_trigger_handler NULL
+
+#endif /* CONFIG_IIO_BUFFER */
+
+#endif /* SPI_ADIS16400_H_ */
diff --git a/drivers/iio/imu/adis16400_buffer.c b/drivers/iio/imu/adis16400_buffer.c
new file mode 100644
index 00000000000..054c01d6e73
--- /dev/null
+++ b/drivers/iio/imu/adis16400_buffer.c
@@ -0,0 +1,96 @@
+#include <linux/interrupt.h>
+#include <linux/mutex.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/bitops.h>
+#include <linux/export.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/trigger_consumer.h>
+
+#include "adis16400.h"
+
+int adis16400_update_scan_mode(struct iio_dev *indio_dev,
+	const unsigned long *scan_mask)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct adis *adis = &st->adis;
+	uint16_t *tx, *rx;
+
+	if (st->variant->flags & ADIS16400_NO_BURST)
+		return adis_update_scan_mode(indio_dev, scan_mask);
+
+	kfree(adis->xfer);
+	kfree(adis->buffer);
+
+	adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
+	if (!adis->xfer)
+		return -ENOMEM;
+
+	adis->buffer = kzalloc(indio_dev->scan_bytes + sizeof(u16),
+		GFP_KERNEL);
+	if (!adis->buffer)
+		return -ENOMEM;
+
+	rx = adis->buffer;
+	tx = adis->buffer + indio_dev->scan_bytes;
+
+	tx[0] = ADIS_READ_REG(ADIS16400_GLOB_CMD);
+	tx[1] = 0;
+
+	adis->xfer[0].tx_buf = tx;
+	adis->xfer[0].bits_per_word = 8;
+	adis->xfer[0].len = 2;
+	adis->xfer[1].tx_buf = tx;
+	adis->xfer[1].bits_per_word = 8;
+	adis->xfer[1].len = indio_dev->scan_bytes;
+
+	spi_message_init(&adis->msg);
+	spi_message_add_tail(&adis->xfer[0], &adis->msg);
+	spi_message_add_tail(&adis->xfer[1], &adis->msg);
+
+	return 0;
+}
+
+irqreturn_t adis16400_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct adis16400_state *st = iio_priv(indio_dev);
+	struct adis *adis = &st->adis;
+	u32 old_speed_hz = st->adis.spi->max_speed_hz;
+	int ret;
+
+	if (!adis->buffer)
+		return -ENOMEM;
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST) &&
+		st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
+		spi_setup(st->adis.spi);
+	}
+
+	ret = spi_sync(adis->spi, &adis->msg);
+	if (ret)
+		dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST)) {
+		st->adis.spi->max_speed_hz = old_speed_hz;
+		spi_setup(st->adis.spi);
+	}
+
+	/* Guaranteed to be aligned with 8 byte boundary */
+	if (indio_dev->scan_timestamp) {
+		void *b = adis->buffer + indio_dev->scan_bytes - sizeof(s64);
+		*(s64 *)b = pf->timestamp;
+	}
+
+	iio_push_to_buffers(indio_dev, adis->buffer);
+
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
diff --git a/drivers/iio/imu/adis16400_core.c b/drivers/iio/imu/adis16400_core.c
new file mode 100644
index 00000000000..f60591f0b92
--- /dev/null
+++ b/drivers/iio/imu/adis16400_core.c
@@ -0,0 +1,966 @@
+/*
+ * adis16400.c	support Analog Devices ADIS16400/5
+ *		3d 2g Linear Accelerometers,
+ *		3d Gyroscopes,
+ *		3d Magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
+ * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
+ * Copyright (c) 2011 Analog Devices Inc.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ */
+
+#include <linux/interrupt.h>
+#include <linux/irq.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/list.h>
+#include <linux/module.h>
+#include <linux/debugfs.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+
+#include "adis16400.h"
+
+#ifdef CONFIG_DEBUG_FS
+
+static ssize_t adis16400_show_serial_number(struct file *file,
+		char __user *userbuf, size_t count, loff_t *ppos)
+{
+	struct adis16400_state *st = file->private_data;
+	u16 lot1, lot2, serial_number;
+	char buf[16];
+	size_t len;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
+	if (ret < 0)
+		return ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
+	if (ret < 0)
+		return ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
+			&serial_number);
+	if (ret < 0)
+		return ret;
+
+	len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
+			serial_number);
+
+	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16400_serial_number_fops = {
+	.open = simple_open,
+	.read = adis16400_show_serial_number,
+	.llseek = default_llseek,
+	.owner = THIS_MODULE,
+};
+
+static int adis16400_show_product_id(void *arg, u64 *val)
+{
+	struct adis16400_state *st = arg;
+	uint16_t prod_id;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
+	if (ret < 0)
+		return ret;
+
+	*val = prod_id;
+
+	return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
+	adis16400_show_product_id, NULL, "%lld\n");
+
+static int adis16400_show_flash_count(void *arg, u64 *val)
+{
+	struct adis16400_state *st = arg;
+	uint16_t flash_count;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
+	if (ret < 0)
+		return ret;
+
+	*val = flash_count;
+
+	return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
+	adis16400_show_flash_count, NULL, "%lld\n");
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+
+	if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
+		debugfs_create_file("serial_number", 0400,
+			indio_dev->debugfs_dentry, st,
+			&adis16400_serial_number_fops);
+	if (st->variant->flags & ADIS16400_HAS_PROD_ID)
+		debugfs_create_file("product_id", 0400,
+			indio_dev->debugfs_dentry, st,
+			&adis16400_product_id_fops);
+	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
+		st, &adis16400_flash_count_fops);
+
+	return 0;
+}
+
+#else
+
+static int adis16400_debugfs_init(struct iio_dev *indio_dev)
+{
+	return 0;
+}
+
+#endif
+
+enum adis16400_chip_variant {
+	ADIS16300,
+	ADIS16334,
+	ADIS16350,
+	ADIS16360,
+	ADIS16362,
+	ADIS16364,
+	ADIS16400,
+	ADIS16448,
+};
+
+static int adis16334_get_freq(struct adis16400_state *st)
+{
+	int ret;
+	uint16_t t;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+	if (ret < 0)
+		return ret;
+
+	t >>= ADIS16334_RATE_DIV_SHIFT;
+
+	return 819200 >> t;
+}
+
+static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+	unsigned int t;
+
+	if (freq < 819200)
+		t = ilog2(819200 / freq);
+	else
+		t = 0;
+
+	if (t > 0x31)
+		t = 0x31;
+
+	t <<= ADIS16334_RATE_DIV_SHIFT;
+	t |= ADIS16334_RATE_INT_CLK;
+
+	return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
+}
+
+static int adis16400_get_freq(struct adis16400_state *st)
+{
+	int sps, ret;
+	uint16_t t;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
+	if (ret < 0)
+		return ret;
+
+	sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
+	sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
+
+	return sps;
+}
+
+static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
+{
+	unsigned int t;
+	uint8_t val = 0;
+
+	t = 1638404 / freq;
+	if (t >= 128) {
+		val |= ADIS16400_SMPL_PRD_TIME_BASE;
+		t = 52851 / freq;
+		if (t >= 128)
+			t = 127;
+	} else if (t != 0) {
+		t--;
+	}
+
+	val |= t;
+
+	if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+	else
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+
+	return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
+}
+
+static ssize_t adis16400_read_frequency(struct device *dev,
+		struct device_attribute *attr,
+		char *buf)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int ret;
+
+	ret = st->variant->get_freq(st);
+	if (ret < 0)
+		return ret;
+
+	return sprintf(buf, "%d.%.3d\n", ret / 1000, ret % 1000);
+}
+
+static const unsigned adis16400_3db_divisors[] = {
+	[0] = 2, /* Special case */
+	[1] = 6,
+	[2] = 12,
+	[3] = 25,
+	[4] = 50,
+	[5] = 100,
+	[6] = 200,
+	[7] = 200, /* Not a valid setting */
+};
+
+static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	uint16_t val16;
+	int i, ret;
+
+	for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
+		if (sps / adis16400_3db_divisors[i] >= val)
+			break;
+	}
+
+	ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
+	if (ret < 0)
+		return ret;
+
+	ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
+					 (val16 & ~0x07) | i);
+	return ret;
+}
+
+static ssize_t adis16400_write_frequency(struct device *dev,
+	struct device_attribute *attr, const char *buf, size_t len)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int i, f, val;
+	int ret;
+
+	ret = iio_str_to_fixpoint(buf, 100, &i, &f);
+	if (ret)
+		return ret;
+
+	val = i * 1000 + f;
+
+	if (val <= 0)
+		return -EINVAL;
+
+	mutex_lock(&indio_dev->mlock);
+	st->variant->set_freq(st, val);
+	mutex_unlock(&indio_dev->mlock);
+
+	return ret ? ret : len;
+}
+
+/* Power down the device */
+static int adis16400_stop_device(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int ret;
+
+	ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
+			ADIS16400_SLP_CNT_POWER_OFF);
+	if (ret)
+		dev_err(&indio_dev->dev,
+			"problem with turning device off: SLP_CNT");
+
+	return ret;
+}
+
+static int adis16400_initial_setup(struct iio_dev *indio_dev)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	uint16_t prod_id, smp_prd;
+	unsigned int device_id;
+	int ret;
+
+	/* use low spi speed for init if the device has a slow mode */
+	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
+	else
+		st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+	st->adis.spi->mode = SPI_MODE_3;
+	spi_setup(st->adis.spi);
+
+	ret = adis_initial_startup(&st->adis);
+	if (ret)
+		return ret;
+
+	if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
+		ret = adis_read_reg_16(&st->adis,
+						ADIS16400_PRODUCT_ID, &prod_id);
+		if (ret)
+			goto err_ret;
+
+		sscanf(indio_dev->name, "adis%u\n", &device_id);
+
+		if (prod_id != device_id)
+			dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
+					device_id, prod_id);
+
+		dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
+			indio_dev->name, prod_id,
+			st->adis.spi->chip_select, st->adis.spi->irq);
+	}
+	/* use high spi speed if possible */
+	if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
+		ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
+		if (ret)
+			goto err_ret;
+
+		if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
+			st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+			spi_setup(st->adis.spi);
+		}
+	}
+
+err_ret:
+	return ret;
+}
+
+static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
+			      adis16400_read_frequency,
+			      adis16400_write_frequency);
+
+static const uint8_t adis16400_addresses[] = {
+	[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
+	[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
+	[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
+	[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
+	[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
+	[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
+};
+
+static int adis16400_write_raw(struct iio_dev *indio_dev,
+	struct iio_chan_spec const *chan, int val, int val2, long info)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int ret, sps;
+
+	switch (info) {
+	case IIO_CHAN_INFO_CALIBBIAS:
+		mutex_lock(&indio_dev->mlock);
+		ret = adis_write_reg_16(&st->adis,
+				adis16400_addresses[chan->scan_index], val);
+		mutex_unlock(&indio_dev->mlock);
+		return ret;
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		/*
+		 * Need to cache values so we can update if the frequency
+		 * changes.
+		 */
+		mutex_lock(&indio_dev->mlock);
+		st->filt_int = val;
+		/* Work out update to current value */
+		sps = st->variant->get_freq(st);
+		if (sps < 0) {
+			mutex_unlock(&indio_dev->mlock);
+			return sps;
+		}
+
+		ret = adis16400_set_filter(indio_dev, sps,
+			val * 1000 + val2 / 1000);
+		mutex_unlock(&indio_dev->mlock);
+		return ret;
+	default:
+		return -EINVAL;
+	}
+}
+
+static int adis16400_read_raw(struct iio_dev *indio_dev,
+	struct iio_chan_spec const *chan, int *val, int *val2, long info)
+{
+	struct adis16400_state *st = iio_priv(indio_dev);
+	int16_t val16;
+	int ret;
+
+	switch (info) {
+	case IIO_CHAN_INFO_RAW:
+		return adis_single_conversion(indio_dev, chan, 0, val);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val = 0;
+			*val2 = st->variant->gyro_scale_micro;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_VOLTAGE:
+			*val = 0;
+			if (chan->channel == 0) {
+				*val = 2;
+				*val2 = 418000; /* 2.418 mV */
+			} else {
+				*val = 0;
+				*val2 = 805800; /* 805.8 uV */
+			}
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_ACCEL:
+			*val = 0;
+			*val2 = st->variant->accel_scale_micro;
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_MAGN:
+			*val = 0;
+			*val2 = 500; /* 0.5 mgauss */
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = st->variant->temp_scale_nano / 1000000;
+			*val2 = (st->variant->temp_scale_nano % 1000000);
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_CALIBBIAS:
+		mutex_lock(&indio_dev->mlock);
+		ret = adis_read_reg_16(&st->adis,
+				adis16400_addresses[chan->scan_index], &val16);
+		mutex_unlock(&indio_dev->mlock);
+		if (ret)
+			return ret;
+		val16 = ((val16 & 0xFFF) << 4) >> 4;
+		*val = val16;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_OFFSET:
+		/* currently only temperature */
+		*val = st->variant->temp_offset;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		mutex_lock(&indio_dev->mlock);
+		/* Need both the number of taps and the sampling frequency */
+		ret = adis_read_reg_16(&st->adis,
+						ADIS16400_SENS_AVG,
+						&val16);
+		if (ret < 0) {
+			mutex_unlock(&indio_dev->mlock);
+			return ret;
+		}
+		ret = st->variant->get_freq(st);
+		if (ret >= 0) {
+			ret /= adis16400_3db_divisors[val16 & 0x07];
+			*val = ret / 1000;
+			*val2 = (ret % 1000) * 1000;
+		}
+		mutex_unlock(&indio_dev->mlock);
+		if (ret < 0)
+			return ret;
+		return IIO_VAL_INT_PLUS_MICRO;
+	default:
+		return -EINVAL;
+	}
+}
+
+#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \
+	.type = IIO_VOLTAGE, \
+	.indexed = 1, \
+	.channel = 0, \
+	.extend_name = name, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.address = (addr), \
+	.scan_index = (si), \
+	.scan_type = { \
+		.sign = 'u', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_SUPPLY_CHAN(addr, bits) \
+	ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY)
+
+#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
+	ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC)
+
+#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
+	.type = IIO_ANGL_VEL, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_CALIBBIAS),		  \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.address = addr, \
+	.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
+	.type = IIO_ACCEL, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_CALIBBIAS), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.address = (addr), \
+	.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
+	.type = IIO_MAGN, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.address = (addr), \
+	.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_MOD_TEMP_NAME_X "x"
+#define ADIS16400_MOD_TEMP_NAME_Y "y"
+#define ADIS16400_MOD_TEMP_NAME_Z "z"
+
+#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
+	.type = IIO_TEMP, \
+	.indexed = 1, \
+	.channel = 0, \
+	.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_OFFSET) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.info_mask_shared_by_type = \
+		BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	.address = (addr), \
+	.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_TEMP_CHAN(addr, bits) { \
+	.type = IIO_TEMP, \
+	.indexed = 1, \
+	.channel = 0, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+		BIT(IIO_CHAN_INFO_OFFSET) | \
+		BIT(IIO_CHAN_INFO_SCALE), \
+	.address = (addr), \
+	.scan_index = ADIS16350_SCAN_TEMP_X, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
+	.type = IIO_INCLI, \
+	.modified = 1, \
+	.channel2 = IIO_MOD_ ## mod, \
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+	.address = (addr), \
+	.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
+	.scan_type = { \
+		.sign = 's', \
+		.realbits = (bits), \
+		.storagebits = 16, \
+		.shift = 0, \
+		.endianness = IIO_BE, \
+	}, \
+}
+
+static const struct iio_chan_spec adis16400_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
+	ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(12)
+};
+
+static const struct iio_chan_spec adis16448_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
+	{
+		.type = IIO_PRESSURE,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
+		.address = ADIS16448_BARO_OUT,
+		.scan_index = ADIS16400_SCAN_BARO,
+		.scan_type = IIO_ST('s', 16, 16, 0),
+	},
+	ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(11)
+};
+
+static const struct iio_chan_spec adis16350_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
+	ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
+	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+	ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
+	ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
+	ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(11)
+};
+
+static const struct iio_chan_spec adis16300_channels[] = {
+	ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+	ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
+	ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
+	ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
+	IIO_CHAN_SOFT_TIMESTAMP(14)
+};
+
+static const struct iio_chan_spec adis16334_channels[] = {
+	ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
+	ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
+	ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
+	ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
+	ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
+	IIO_CHAN_SOFT_TIMESTAMP(8)
+};
+
+static struct attribute *adis16400_attributes[] = {
+	&iio_dev_attr_sampling_frequency.dev_attr.attr,
+	NULL
+};
+
+static const struct attribute_group adis16400_attribute_group = {
+	.attrs = adis16400_attributes,
+};
+
+static struct adis16400_chip_info adis16400_chips[] = {
+	[ADIS16300] = {
+		.channels = adis16300_channels,
+		.num_channels = ARRAY_SIZE(adis16300_channels),
+		.flags = ADIS16400_HAS_SLOW_MODE,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = 5884,
+		.temp_scale_nano = 140000000, /* 0.14 C */
+		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16334] = {
+		.channels = adis16334_channels,
+		.num_channels = ARRAY_SIZE(adis16334_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+		.temp_scale_nano = 67850000, /* 0.06785 C */
+		.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+	},
+	[ADIS16350] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
+		.temp_scale_nano = 145300000, /* 0.1453 C */
+		.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
+		.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16360] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16362] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16364] = {
+		.channels = adis16350_channels,
+		.num_channels = ARRAY_SIZE(adis16350_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
+		.temp_scale_nano = 136000000, /* 0.136 C */
+		.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16400] = {
+		.channels = adis16400_channels,
+		.num_channels = ARRAY_SIZE(adis16400_channels),
+		.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
+		.temp_scale_nano = 140000000, /* 0.14 C */
+		.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
+		.set_freq = adis16400_set_freq,
+		.get_freq = adis16400_get_freq,
+	},
+	[ADIS16448] = {
+		.channels = adis16448_channels,
+		.num_channels = ARRAY_SIZE(adis16448_channels),
+		.flags = ADIS16400_HAS_PROD_ID |
+				ADIS16400_HAS_SERIAL_NUMBER,
+		.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
+		.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
+		.temp_scale_nano = 73860000, /* 0.07386 C */
+		.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
+		.set_freq = adis16334_set_freq,
+		.get_freq = adis16334_get_freq,
+	}
+};
+
+static const struct iio_info adis16400_info = {
+	.driver_module = THIS_MODULE,
+	.read_raw = &adis16400_read_raw,
+	.write_raw = &adis16400_write_raw,
+	.attrs = &adis16400_attribute_group,
+	.update_scan_mode = adis16400_update_scan_mode,
+	.debugfs_reg_access = adis_debugfs_reg_access,
+};
+
+static const unsigned long adis16400_burst_scan_mask[] = {
+	~0UL,
+	0,
+};
+
+static const char * const adis16400_status_error_msgs[] = {
+	[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+	[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+	[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+	[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+	[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+	[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+	[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+	[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+	[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+	[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+	[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+static const struct adis_data adis16400_data = {
+	.msc_ctrl_reg = ADIS16400_MSC_CTRL,
+	.glob_cmd_reg = ADIS16400_GLOB_CMD,
+	.diag_stat_reg = ADIS16400_DIAG_STAT,
+
+	.read_delay = 50,
+	.write_delay = 50,
+
+	.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
+	.startup_delay = ADIS16400_STARTUP_DELAY,
+
+	.status_error_msgs = adis16400_status_error_msgs,
+	.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_ALARM2) |
+		BIT(ADIS16400_DIAG_STAT_ALARM1) |
+		BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
+		BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
+		BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
+		BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
+		BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
+		BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
+		BIT(ADIS16400_DIAG_STAT_POWER_LOW),
+};
+
+static int adis16400_probe(struct spi_device *spi)
+{
+	struct adis16400_state *st;
+	struct iio_dev *indio_dev;
+	int ret;
+
+	indio_dev = iio_device_alloc(sizeof(*st));
+	if (indio_dev == NULL)
+		return -ENOMEM;
+
+	st = iio_priv(indio_dev);
+	/* this is only used for removal purposes */
+	spi_set_drvdata(spi, indio_dev);
+
+	/* setup the industrialio driver allocated elements */
+	st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->name = spi_get_device_id(spi)->name;
+	indio_dev->channels = st->variant->channels;
+	indio_dev->num_channels = st->variant->num_channels;
+	indio_dev->info = &adis16400_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	if (!(st->variant->flags & ADIS16400_NO_BURST))
+		indio_dev->available_scan_masks = adis16400_burst_scan_mask;
+
+	ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
+	if (ret)
+		goto error_free_dev;
+
+	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
+			adis16400_trigger_handler);
+	if (ret)
+		goto error_free_dev;
+
+	/* Get the device into a sane initial state */
+	ret = adis16400_initial_setup(indio_dev);
+	if (ret)
+		goto error_cleanup_buffer;
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_cleanup_buffer;
+
+	adis16400_debugfs_init(indio_dev);
+	return 0;
+
+error_cleanup_buffer:
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+error_free_dev:
+	iio_device_free(indio_dev);
+	return ret;
+}
+
+static int adis16400_remove(struct spi_device *spi)
+{
+	struct iio_dev *indio_dev = spi_get_drvdata(spi);
+	struct adis16400_state *st = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	adis16400_stop_device(indio_dev);
+
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+
+	iio_device_free(indio_dev);
+
+	return 0;
+}
+
+static const struct spi_device_id adis16400_id[] = {
+	{"adis16300", ADIS16300},
+	{"adis16334", ADIS16334},
+	{"adis16350", ADIS16350},
+	{"adis16354", ADIS16350},
+	{"adis16355", ADIS16350},
+	{"adis16360", ADIS16360},
+	{"adis16362", ADIS16362},
+	{"adis16364", ADIS16364},
+	{"adis16365", ADIS16360},
+	{"adis16400", ADIS16400},
+	{"adis16405", ADIS16400},
+	{"adis16448", ADIS16448},
+	{}
+};
+MODULE_DEVICE_TABLE(spi, adis16400_id);
+
+static struct spi_driver adis16400_driver = {
+	.driver = {
+		.name = "adis16400",
+		.owner = THIS_MODULE,
+	},
+	.id_table = adis16400_id,
+	.probe = adis16400_probe,
+	.remove = adis16400_remove,
+};
+module_spi_driver(adis16400_driver);
+
+MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
+MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
new file mode 100644
index 00000000000..b7db3837629
--- /dev/null
+++ b/drivers/iio/imu/adis16480.c
@@ -0,0 +1,924 @@
+/*
+ * ADIS16480 and similar IMUs driver
+ *
+ * Copyright 2012 Analog Devices Inc.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ */
+
+#include <linux/interrupt.h>
+#include <linux/delay.h>
+#include <linux/mutex.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/imu/adis.h>
+
+#include <linux/debugfs.h>
+
+#define ADIS16480_PAGE_SIZE 0x80
+
+#define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))
+
+#define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
+#define ADIS16480_REG_SEQ_CNT			ADIS16480_REG(0x00, 0x06)
+#define ADIS16480_REG_SYS_E_FLA			ADIS16480_REG(0x00, 0x08)
+#define ADIS16480_REG_DIAG_STS			ADIS16480_REG(0x00, 0x0A)
+#define ADIS16480_REG_ALM_STS			ADIS16480_REG(0x00, 0x0C)
+#define ADIS16480_REG_TEMP_OUT			ADIS16480_REG(0x00, 0x0E)
+#define ADIS16480_REG_X_GYRO_OUT		ADIS16480_REG(0x00, 0x10)
+#define ADIS16480_REG_Y_GYRO_OUT		ADIS16480_REG(0x00, 0x14)
+#define ADIS16480_REG_Z_GYRO_OUT		ADIS16480_REG(0x00, 0x18)
+#define ADIS16480_REG_X_ACCEL_OUT		ADIS16480_REG(0x00, 0x1C)
+#define ADIS16480_REG_Y_ACCEL_OUT		ADIS16480_REG(0x00, 0x20)
+#define ADIS16480_REG_Z_ACCEL_OUT		ADIS16480_REG(0x00, 0x24)
+#define ADIS16480_REG_X_MAGN_OUT		ADIS16480_REG(0x00, 0x28)
+#define ADIS16480_REG_Y_MAGN_OUT		ADIS16480_REG(0x00, 0x2A)
+#define ADIS16480_REG_Z_MAGN_OUT		ADIS16480_REG(0x00, 0x2C)
+#define ADIS16480_REG_BAROM_OUT			ADIS16480_REG(0x00, 0x2E)
+#define ADIS16480_REG_X_DELTAANG_OUT		ADIS16480_REG(0x00, 0x40)
+#define ADIS16480_REG_Y_DELTAANG_OUT		ADIS16480_REG(0x00, 0x44)
+#define ADIS16480_REG_Z_DELTAANG_OUT		ADIS16480_REG(0x00, 0x48)
+#define ADIS16480_REG_X_DELTAVEL_OUT		ADIS16480_REG(0x00, 0x4C)
+#define ADIS16480_REG_Y_DELTAVEL_OUT		ADIS16480_REG(0x00, 0x50)
+#define ADIS16480_REG_Z_DELTAVEL_OUT		ADIS16480_REG(0x00, 0x54)
+#define ADIS16480_REG_PROD_ID			ADIS16480_REG(0x00, 0x7E)
+
+#define ADIS16480_REG_X_GYRO_SCALE		ADIS16480_REG(0x02, 0x04)
+#define ADIS16480_REG_Y_GYRO_SCALE		ADIS16480_REG(0x02, 0x06)
+#define ADIS16480_REG_Z_GYRO_SCALE		ADIS16480_REG(0x02, 0x08)
+#define ADIS16480_REG_X_ACCEL_SCALE		ADIS16480_REG(0x02, 0x0A)
+#define ADIS16480_REG_Y_ACCEL_SCALE		ADIS16480_REG(0x02, 0x0C)
+#define ADIS16480_REG_Z_ACCEL_SCALE		ADIS16480_REG(0x02, 0x0E)
+#define ADIS16480_REG_X_GYRO_BIAS		ADIS16480_REG(0x02, 0x10)
+#define ADIS16480_REG_Y_GYRO_BIAS		ADIS16480_REG(0x02, 0x14)
+#define ADIS16480_REG_Z_GYRO_BIAS		ADIS16480_REG(0x02, 0x18)
+#define ADIS16480_REG_X_ACCEL_BIAS		ADIS16480_REG(0x02, 0x1C)
+#define ADIS16480_REG_Y_ACCEL_BIAS		ADIS16480_REG(0x02, 0x20)
+#define ADIS16480_REG_Z_ACCEL_BIAS		ADIS16480_REG(0x02, 0x24)
+#define ADIS16480_REG_X_HARD_IRON		ADIS16480_REG(0x02, 0x28)
+#define ADIS16480_REG_Y_HARD_IRON		ADIS16480_REG(0x02, 0x2A)
+#define ADIS16480_REG_Z_HARD_IRON		ADIS16480_REG(0x02, 0x2C)
+#define ADIS16480_REG_BAROM_BIAS		ADIS16480_REG(0x02, 0x40)
+#define ADIS16480_REG_FLASH_CNT			ADIS16480_REG(0x02, 0x7C)
+
+#define ADIS16480_REG_GLOB_CMD			ADIS16480_REG(0x03, 0x02)
+#define ADIS16480_REG_FNCTIO_CTRL		ADIS16480_REG(0x03, 0x06)
+#define ADIS16480_REG_GPIO_CTRL			ADIS16480_REG(0x03, 0x08)
+#define ADIS16480_REG_CONFIG			ADIS16480_REG(0x03, 0x0A)
+#define ADIS16480_REG_DEC_RATE			ADIS16480_REG(0x03, 0x0C)
+#define ADIS16480_REG_SLP_CNT			ADIS16480_REG(0x03, 0x10)
+#define ADIS16480_REG_FILTER_BNK0		ADIS16480_REG(0x03, 0x16)
+#define ADIS16480_REG_FILTER_BNK1		ADIS16480_REG(0x03, 0x18)
+#define ADIS16480_REG_ALM_CNFG0			ADIS16480_REG(0x03, 0x20)
+#define ADIS16480_REG_ALM_CNFG1			ADIS16480_REG(0x03, 0x22)
+#define ADIS16480_REG_ALM_CNFG2			ADIS16480_REG(0x03, 0x24)
+#define ADIS16480_REG_XG_ALM_MAGN		ADIS16480_REG(0x03, 0x28)
+#define ADIS16480_REG_YG_ALM_MAGN		ADIS16480_REG(0x03, 0x2A)
+#define ADIS16480_REG_ZG_ALM_MAGN		ADIS16480_REG(0x03, 0x2C)
+#define ADIS16480_REG_XA_ALM_MAGN		ADIS16480_REG(0x03, 0x2E)
+#define ADIS16480_REG_YA_ALM_MAGN		ADIS16480_REG(0x03, 0x30)
+#define ADIS16480_REG_ZA_ALM_MAGN		ADIS16480_REG(0x03, 0x32)
+#define ADIS16480_REG_XM_ALM_MAGN		ADIS16480_REG(0x03, 0x34)
+#define ADIS16480_REG_YM_ALM_MAGN		ADIS16480_REG(0x03, 0x36)
+#define ADIS16480_REG_ZM_ALM_MAGN		ADIS16480_REG(0x03, 0x38)
+#define ADIS16480_REG_BR_ALM_MAGN		ADIS16480_REG(0x03, 0x3A)
+#define ADIS16480_REG_FIRM_REV			ADIS16480_REG(0x03, 0x78)
+#define ADIS16480_REG_FIRM_DM			ADIS16480_REG(0x03, 0x7A)
+#define ADIS16480_REG_FIRM_Y			ADIS16480_REG(0x03, 0x7C)
+
+#define ADIS16480_REG_SERIAL_NUM		ADIS16480_REG(0x04, 0x20)
+
+/* Each filter coefficent bank spans two pages */
+#define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
+		ADIS16480_REG((page) + 1, (x) - 60 + 8))
+#define ADIS16480_FIR_COEF_A(x)			ADIS16480_FIR_COEF(0x05, (x))
+#define ADIS16480_FIR_COEF_B(x)			ADIS16480_FIR_COEF(0x07, (x))
+#define ADIS16480_FIR_COEF_C(x)			ADIS16480_FIR_COEF(0x09, (x))
+#define ADIS16480_FIR_COEF_D(x)			ADIS16480_FIR_COEF(0x0B, (x))
+
+struct adis16480_chip_info {
+	unsigned int num_channels;
+	const struct iio_chan_spec *channels;
+};
+
+struct adis16480 {
+	const struct adis16480_chip_info *chip_info;
+
+	struct adis adis;
+};
+
+#ifdef CONFIG_DEBUG_FS
+
+static ssize_t adis16480_show_firmware_revision(struct file *file,
+		char __user *userbuf, size_t count, loff_t *ppos)
+{
+	struct adis16480 *adis16480 = file->private_data;
+	char buf[7];
+	size_t len;
+	u16 rev;
+	int ret;
+
+	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
+	if (ret < 0)
+		return ret;
+
+	len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
+
+	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16480_firmware_revision_fops = {
+	.open = simple_open,
+	.read = adis16480_show_firmware_revision,
+	.llseek = default_llseek,
+	.owner = THIS_MODULE,
+};
+
+static ssize_t adis16480_show_firmware_date(struct file *file,
+		char __user *userbuf, size_t count, loff_t *ppos)
+{
+	struct adis16480 *adis16480 = file->private_data;
+	u16 md, year;
+	char buf[12];
+	size_t len;
+	int ret;
+
+	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
+	if (ret < 0)
+		return ret;
+
+	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
+	if (ret < 0)
+		return ret;
+
+	len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
+			md >> 8, md & 0xff, year);
+
+	return simple_read_from_buffer(userbuf, count, ppos, buf, len);
+}
+
+static const struct file_operations adis16480_firmware_date_fops = {
+	.open = simple_open,
+	.read = adis16480_show_firmware_date,
+	.llseek = default_llseek,
+	.owner = THIS_MODULE,
+};
+
+static int adis16480_show_serial_number(void *arg, u64 *val)
+{
+	struct adis16480 *adis16480 = arg;
+	u16 serial;
+	int ret;
+
+	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
+		&serial);
+	if (ret < 0)
+		return ret;
+
+	*val = serial;
+
+	return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops,
+	adis16480_show_serial_number, NULL, "0x%.4llx\n");
+
+static int adis16480_show_product_id(void *arg, u64 *val)
+{
+	struct adis16480 *adis16480 = arg;
+	u16 prod_id;
+	int ret;
+
+	ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
+		&prod_id);
+	if (ret < 0)
+		return ret;
+
+	*val = prod_id;
+
+	return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops,
+	adis16480_show_product_id, NULL, "%llu\n");
+
+static int adis16480_show_flash_count(void *arg, u64 *val)
+{
+	struct adis16480 *adis16480 = arg;
+	u32 flash_count;
+	int ret;
+
+	ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
+		&flash_count);
+	if (ret < 0)
+		return ret;
+
+	*val = flash_count;
+
+	return 0;
+}
+DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops,
+	adis16480_show_flash_count, NULL, "%lld\n");
+
+static int adis16480_debugfs_init(struct iio_dev *indio_dev)
+{
+	struct adis16480 *adis16480 = iio_priv(indio_dev);
+
+	debugfs_create_file("firmware_revision", 0400,
+		indio_dev->debugfs_dentry, adis16480,
+		&adis16480_firmware_revision_fops);
+	debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry,
+		adis16480, &adis16480_firmware_date_fops);
+	debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
+		adis16480, &adis16480_serial_number_fops);
+	debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
+		adis16480, &adis16480_product_id_fops);
+	debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
+		adis16480, &adis16480_flash_count_fops);
+
+	return 0;
+}
+
+#else
+
+static int adis16480_debugfs_init(struct iio_dev *indio_dev)
+{
+	return 0;
+}
+
+#endif
+
+static int adis16480_set_freq(struct adis16480 *st, unsigned int freq)
+{
+	unsigned int t;
+
+	t = 2460000 / freq;
+	if (t > 2048)
+		t = 2048;
+
+	if (t != 0)
+		t--;
+
+	return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
+}
+
+static int adis16480_get_freq(struct adis16480 *st, unsigned int *freq)
+{
+	uint16_t t;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
+	if (ret < 0)
+		return ret;
+
+	*freq = 2460000 / (t + 1);
+
+	return 0;
+}
+
+static ssize_t adis16480_read_frequency(struct device *dev,
+		struct device_attribute *attr,
+		char *buf)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct adis16480 *st = iio_priv(indio_dev);
+	unsigned int freq;
+	int ret;
+
+	ret = adis16480_get_freq(st, &freq);
+	if (ret < 0)
+		return ret;
+
+	return sprintf(buf, "%d.%.3d\n", freq / 1000, freq % 1000);
+}
+
+static ssize_t adis16480_write_frequency(struct device *dev,
+		struct device_attribute *attr,
+		const char *buf,
+		size_t len)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct adis16480 *st = iio_priv(indio_dev);
+	int freq_int, freq_fract;
+	long val;
+	int ret;
+
+	ret = iio_str_to_fixpoint(buf, 100, &freq_int, &freq_fract);
+	if (ret)
+		return ret;
+
+	val = freq_int * 1000 + freq_fract;
+
+	if (val <= 0)
+		return -EINVAL;
+
+	ret = adis16480_set_freq(st, val);
+
+	return ret ? ret : len;
+}
+
+static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
+			      adis16480_read_frequency,
+			      adis16480_write_frequency);
+
+enum {
+	ADIS16480_SCAN_GYRO_X,
+	ADIS16480_SCAN_GYRO_Y,
+	ADIS16480_SCAN_GYRO_Z,
+	ADIS16480_SCAN_ACCEL_X,
+	ADIS16480_SCAN_ACCEL_Y,
+	ADIS16480_SCAN_ACCEL_Z,
+	ADIS16480_SCAN_MAGN_X,
+	ADIS16480_SCAN_MAGN_Y,
+	ADIS16480_SCAN_MAGN_Z,
+	ADIS16480_SCAN_BARO,
+	ADIS16480_SCAN_TEMP,
+};
+
+static const unsigned int adis16480_calibbias_regs[] = {
+	[ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
+	[ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
+	[ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
+	[ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
+	[ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
+	[ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
+	[ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
+	[ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
+	[ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
+	[ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
+};
+
+static const unsigned int adis16480_calibscale_regs[] = {
+	[ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
+	[ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
+	[ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
+	[ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
+	[ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
+	[ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
+};
+
+static int adis16480_set_calibbias(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, int bias)
+{
+	unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
+	struct adis16480 *st = iio_priv(indio_dev);
+
+	switch (chan->type) {
+	case IIO_MAGN:
+	case IIO_PRESSURE:
+		if (bias < -0x8000 || bias >= 0x8000)
+			return -EINVAL;
+		return adis_write_reg_16(&st->adis, reg, bias);
+	case IIO_ANGL_VEL:
+	case IIO_ACCEL:
+		return adis_write_reg_32(&st->adis, reg, bias);
+	default:
+		break;
+	}
+
+	return -EINVAL;
+}
+
+static int adis16480_get_calibbias(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, int *bias)
+{
+	unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
+	struct adis16480 *st = iio_priv(indio_dev);
+	uint16_t val16;
+	uint32_t val32;
+	int ret;
+
+	switch (chan->type) {
+	case IIO_MAGN:
+	case IIO_PRESSURE:
+		ret = adis_read_reg_16(&st->adis, reg, &val16);
+		*bias = sign_extend32(val16, 15);
+		break;
+	case IIO_ANGL_VEL:
+	case IIO_ACCEL:
+		ret = adis_read_reg_32(&st->adis, reg, &val32);
+		*bias = sign_extend32(val32, 31);
+		break;
+	default:
+			ret = -EINVAL;
+	}
+
+	if (ret < 0)
+		return ret;
+
+	return IIO_VAL_INT;
+}
+
+static int adis16480_set_calibscale(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, int scale)
+{
+	unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
+	struct adis16480 *st = iio_priv(indio_dev);
+
+	if (scale < -0x8000 || scale >= 0x8000)
+		return -EINVAL;
+
+	return adis_write_reg_16(&st->adis, reg, scale);
+}
+
+static int adis16480_get_calibscale(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, int *scale)
+{
+	unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
+	struct adis16480 *st = iio_priv(indio_dev);
+	uint16_t val16;
+	int ret;
+
+	ret = adis_read_reg_16(&st->adis, reg, &val16);
+	if (ret < 0)
+		return ret;
+
+	*scale = sign_extend32(val16, 15);
+	return IIO_VAL_INT;
+}
+
+static const unsigned int adis16480_def_filter_freqs[] = {
+	310,
+	55,
+	275,
+	63,
+};
+
+static const unsigned int ad16480_filter_data[][2] = {
+	[ADIS16480_SCAN_GYRO_X]		= { ADIS16480_REG_FILTER_BNK0, 0 },
+	[ADIS16480_SCAN_GYRO_Y]		= { ADIS16480_REG_FILTER_BNK0, 3 },
+	[ADIS16480_SCAN_GYRO_Z]		= { ADIS16480_REG_FILTER_BNK0, 6 },
+	[ADIS16480_SCAN_ACCEL_X]	= { ADIS16480_REG_FILTER_BNK0, 9 },
+	[ADIS16480_SCAN_ACCEL_Y]	= { ADIS16480_REG_FILTER_BNK0, 12 },
+	[ADIS16480_SCAN_ACCEL_Z]	= { ADIS16480_REG_FILTER_BNK1, 0 },
+	[ADIS16480_SCAN_MAGN_X]		= { ADIS16480_REG_FILTER_BNK1, 3 },
+	[ADIS16480_SCAN_MAGN_Y]		= { ADIS16480_REG_FILTER_BNK1, 6 },
+	[ADIS16480_SCAN_MAGN_Z]		= { ADIS16480_REG_FILTER_BNK1, 9 },
+};
+
+static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, int *freq)
+{
+	struct adis16480 *st = iio_priv(indio_dev);
+	unsigned int enable_mask, offset, reg;
+	uint16_t val;
+	int ret;
+
+	reg = ad16480_filter_data[chan->scan_index][0];
+	offset = ad16480_filter_data[chan->scan_index][1];
+	enable_mask = BIT(offset + 2);
+
+	ret = adis_read_reg_16(&st->adis, reg, &val);
+	if (ret < 0)
+		return ret;
+
+	if (!(val & enable_mask))
+		*freq = 0;
+	else
+		*freq = adis16480_def_filter_freqs[(val >> offset) & 0x3];
+
+	return IIO_VAL_INT;
+}
+
+static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, unsigned int freq)
+{
+	struct adis16480 *st = iio_priv(indio_dev);
+	unsigned int enable_mask, offset, reg;
+	unsigned int diff, best_diff;
+	unsigned int i, best_freq;
+	uint16_t val;
+	int ret;
+
+	reg = ad16480_filter_data[chan->scan_index][0];
+	offset = ad16480_filter_data[chan->scan_index][1];
+	enable_mask = BIT(offset + 2);
+
+	ret = adis_read_reg_16(&st->adis, reg, &val);
+	if (ret < 0)
+		return ret;
+
+	if (freq == 0) {
+		val &= ~enable_mask;
+	} else {
+		best_freq = 0;
+		best_diff = 310;
+		for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
+			if (adis16480_def_filter_freqs[i] >= freq) {
+				diff = adis16480_def_filter_freqs[i] - freq;
+				if (diff < best_diff) {
+					best_diff = diff;
+					best_freq = i;
+				}
+			}
+		}
+
+		val &= ~(0x3 << offset);
+		val |= best_freq << offset;
+		val |= enable_mask;
+	}
+
+	return adis_write_reg_16(&st->adis, reg, val);
+}
+
+static int adis16480_read_raw(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, int *val, int *val2, long info)
+{
+	switch (info) {
+	case IIO_CHAN_INFO_RAW:
+		return adis_single_conversion(indio_dev, chan, 0, val);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val = 0;
+			*val2 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_ACCEL:
+			*val = 0;
+			*val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_MAGN:
+			*val = 0;
+			*val2 = 100; /* 0.0001 gauss */
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = 5;
+			*val2 = 650000; /* 5.65 milli degree Celsius */
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_PRESSURE:
+			*val = 0;
+			*val2 = 4000; /* 40ubar = 0.004 kPa */
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_OFFSET:
+		/* Only the temperature channel has a offset */
+		*val = 4425; /* 25 degree Celsius = 0x0000 */
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return adis16480_get_calibbias(indio_dev, chan, val);
+	case IIO_CHAN_INFO_CALIBSCALE:
+		return adis16480_get_calibscale(indio_dev, chan, val);
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		return adis16480_get_filter_freq(indio_dev, chan, val);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int adis16480_write_raw(struct iio_dev *indio_dev,
+	const struct iio_chan_spec *chan, int val, int val2, long info)
+{
+	switch (info) {
+	case IIO_CHAN_INFO_CALIBBIAS:
+		return adis16480_set_calibbias(indio_dev, chan, val);
+	case IIO_CHAN_INFO_CALIBSCALE:
+		return adis16480_set_calibscale(indio_dev, chan, val);
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		return adis16480_set_filter_freq(indio_dev, chan, val);
+	default:
+		return -EINVAL;
+	}
+}
+
+#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
+	{ \
+		.type = (_type), \
+		.modified = 1, \
+		.channel2 = (_mod), \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+			BIT(IIO_CHAN_INFO_CALIBBIAS) | \
+			_info_sep, \
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+		.address = (_address), \
+		.scan_index = (_si), \
+		.scan_type = { \
+			.sign = 's', \
+			.realbits = (_bits), \
+			.storagebits = (_bits), \
+			.endianness = IIO_BE, \
+		}, \
+	}
+
+#define ADIS16480_GYRO_CHANNEL(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
+	BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
+	BIT(IIO_CHAN_INFO_CALIBSCALE), \
+	32)
+
+#define ADIS16480_ACCEL_CHANNEL(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
+	BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
+	BIT(IIO_CHAN_INFO_CALIBSCALE), \
+	32)
+
+#define ADIS16480_MAGN_CHANNEL(_mod) \
+	ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
+	ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
+	BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+	16)
+
+#define ADIS16480_PRESSURE_CHANNEL() \
+	{ \
+		.type = IIO_PRESSURE, \
+		.indexed = 1, \
+		.channel = 0, \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+			BIT(IIO_CHAN_INFO_CALIBBIAS) | \
+			BIT(IIO_CHAN_INFO_SCALE), \
+		.address = ADIS16480_REG_BAROM_OUT, \
+		.scan_index = ADIS16480_SCAN_BARO, \
+		.scan_type = { \
+			.sign = 's', \
+			.realbits = 32, \
+			.storagebits = 32, \
+			.endianness = IIO_BE, \
+		}, \
+	}
+
+#define ADIS16480_TEMP_CHANNEL() { \
+		.type = IIO_TEMP, \
+		.indexed = 1, \
+		.channel = 0, \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
+			BIT(IIO_CHAN_INFO_SCALE) | \
+			BIT(IIO_CHAN_INFO_OFFSET), \
+		.address = ADIS16480_REG_TEMP_OUT, \
+		.scan_index = ADIS16480_SCAN_TEMP, \
+		.scan_type = { \
+			.sign = 's', \
+			.realbits = 16, \
+			.storagebits = 16, \
+			.endianness = IIO_BE, \
+		}, \
+	}
+
+static const struct iio_chan_spec adis16480_channels[] = {
+	ADIS16480_GYRO_CHANNEL(X),
+	ADIS16480_GYRO_CHANNEL(Y),
+	ADIS16480_GYRO_CHANNEL(Z),
+	ADIS16480_ACCEL_CHANNEL(X),
+	ADIS16480_ACCEL_CHANNEL(Y),
+	ADIS16480_ACCEL_CHANNEL(Z),
+	ADIS16480_MAGN_CHANNEL(X),
+	ADIS16480_MAGN_CHANNEL(Y),
+	ADIS16480_MAGN_CHANNEL(Z),
+	ADIS16480_PRESSURE_CHANNEL(),
+	ADIS16480_TEMP_CHANNEL(),
+	IIO_CHAN_SOFT_TIMESTAMP(11)
+};
+
+static const struct iio_chan_spec adis16485_channels[] = {
+	ADIS16480_GYRO_CHANNEL(X),
+	ADIS16480_GYRO_CHANNEL(Y),
+	ADIS16480_GYRO_CHANNEL(Z),
+	ADIS16480_ACCEL_CHANNEL(X),
+	ADIS16480_ACCEL_CHANNEL(Y),
+	ADIS16480_ACCEL_CHANNEL(Z),
+	ADIS16480_TEMP_CHANNEL(),
+	IIO_CHAN_SOFT_TIMESTAMP(7)
+};
+
+enum adis16480_variant {
+	ADIS16375,
+	ADIS16480,
+	ADIS16485,
+	ADIS16488,
+};
+
+static const struct adis16480_chip_info adis16480_chip_info[] = {
+	[ADIS16375] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+	},
+	[ADIS16480] = {
+		.channels = adis16480_channels,
+		.num_channels = ARRAY_SIZE(adis16480_channels),
+	},
+	[ADIS16485] = {
+		.channels = adis16485_channels,
+		.num_channels = ARRAY_SIZE(adis16485_channels),
+	},
+	[ADIS16488] = {
+		.channels = adis16480_channels,
+		.num_channels = ARRAY_SIZE(adis16480_channels),
+	},
+};
+
+static struct attribute *adis16480_attributes[] = {
+	&iio_dev_attr_sampling_frequency.dev_attr.attr,
+	NULL
+};
+
+static const struct attribute_group adis16480_attribute_group = {
+	.attrs = adis16480_attributes,
+};
+
+static const struct iio_info adis16480_info = {
+	.attrs = &adis16480_attribute_group,
+	.read_raw = &adis16480_read_raw,
+	.write_raw = &adis16480_write_raw,
+	.update_scan_mode = adis_update_scan_mode,
+	.driver_module = THIS_MODULE,
+};
+
+static int adis16480_stop_device(struct iio_dev *indio_dev)
+{
+	struct adis16480 *st = iio_priv(indio_dev);
+	int ret;
+
+	ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
+	if (ret)
+		dev_err(&indio_dev->dev,
+			"Could not power down device: %d\n", ret);
+
+	return ret;
+}
+
+static int adis16480_enable_irq(struct adis *adis, bool enable)
+{
+	return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL,
+		enable ? BIT(3) : 0);
+}
+
+static int adis16480_initial_setup(struct iio_dev *indio_dev)
+{
+	struct adis16480 *st = iio_priv(indio_dev);
+	uint16_t prod_id;
+	unsigned int device_id;
+	int ret;
+
+	adis_reset(&st->adis);
+	msleep(70);
+
+	ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
+	if (ret)
+		return ret;
+	msleep(30);
+
+	ret = adis_check_status(&st->adis);
+	if (ret)
+		return ret;
+
+	ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
+	if (ret)
+		return ret;
+
+	sscanf(indio_dev->name, "adis%u\n", &device_id);
+
+	if (prod_id != device_id)
+		dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
+				device_id, prod_id);
+
+	return 0;
+}
+
+#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
+#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
+#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
+#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
+#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
+#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
+#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
+#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
+#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
+#define ADIS16480_DIAG_STAT_BARO_FAIL 11
+
+static const char * const adis16480_status_error_msgs[] = {
+	[ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+	[ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+	[ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+	[ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+	[ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+	[ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+	[ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
+	[ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
+	[ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
+	[ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
+};
+
+static const struct adis_data adis16480_data = {
+	.diag_stat_reg = ADIS16480_REG_DIAG_STS,
+	.glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
+	.has_paging = true,
+
+	.read_delay = 5,
+	.write_delay = 5,
+
+	.status_error_msgs = adis16480_status_error_msgs,
+	.status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
+		BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
+
+	.enable_irq = adis16480_enable_irq,
+};
+
+static int adis16480_probe(struct spi_device *spi)
+{
+	const struct spi_device_id *id = spi_get_device_id(spi);
+	struct iio_dev *indio_dev;
+	struct adis16480 *st;
+	int ret;
+
+	indio_dev = iio_device_alloc(sizeof(*st));
+	if (indio_dev == NULL)
+		return -ENOMEM;
+
+	spi_set_drvdata(spi, indio_dev);
+
+	st = iio_priv(indio_dev);
+
+	st->chip_info = &adis16480_chip_info[id->driver_data];
+	indio_dev->dev.parent = &spi->dev;
+	indio_dev->name = spi_get_device_id(spi)->name;
+	indio_dev->channels = st->chip_info->channels;
+	indio_dev->num_channels = st->chip_info->num_channels;
+	indio_dev->info = &adis16480_info;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data);
+	if (ret)
+		goto error_free_dev;
+
+	ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
+	if (ret)
+		goto error_free_dev;
+
+	ret = adis16480_initial_setup(indio_dev);
+	if (ret)
+		goto error_cleanup_buffer;
+
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		goto error_stop_device;
+
+	adis16480_debugfs_init(indio_dev);
+
+	return 0;
+
+error_stop_device:
+	adis16480_stop_device(indio_dev);
+error_cleanup_buffer:
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+error_free_dev:
+	iio_device_free(indio_dev);
+	return ret;
+}
+
+static int adis16480_remove(struct spi_device *spi)
+{
+	struct iio_dev *indio_dev = spi_get_drvdata(spi);
+	struct adis16480 *st = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	adis16480_stop_device(indio_dev);
+
+	adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
+
+	iio_device_free(indio_dev);
+
+	return 0;
+}
+
+static const struct spi_device_id adis16480_ids[] = {
+	{ "adis16375", ADIS16375 },
+	{ "adis16480", ADIS16480 },
+	{ "adis16485", ADIS16485 },
+	{ "adis16488", ADIS16488 },
+	{ }
+};
+MODULE_DEVICE_TABLE(spi, adis16480_ids);
+
+static struct spi_driver adis16480_driver = {
+	.driver = {
+		.name = "adis16480",
+		.owner = THIS_MODULE,
+	},
+	.id_table = adis16480_ids,
+	.probe = adis16480_probe,
+	.remove = adis16480_remove,
+};
+module_spi_driver(adis16480_driver);
+
+MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
+MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c
new file mode 100644
index 00000000000..99d8e0b0dd3
--- /dev/null
+++ b/drivers/iio/imu/adis_buffer.c
@@ -0,0 +1,176 @@
+/*
+ * Common library for ADIS16XXX devices
+ *
+ * Copyright 2012 Analog Devices Inc.
+ *   Author: Lars-Peter Clausen <lars@metafoo.de>
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/export.h>
+#include <linux/interrupt.h>
+#include <linux/mutex.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/imu/adis.h>
+
+int adis_update_scan_mode(struct iio_dev *indio_dev,
+	const unsigned long *scan_mask)
+{
+	struct adis *adis = iio_device_get_drvdata(indio_dev);
+	const struct iio_chan_spec *chan;
+	unsigned int scan_count;
+	unsigned int i, j;
+	__be16 *tx, *rx;
+
+	kfree(adis->xfer);
+	kfree(adis->buffer);
+
+	scan_count = indio_dev->scan_bytes / 2;
+
+	adis->xfer = kcalloc(scan_count + 1, sizeof(*adis->xfer), GFP_KERNEL);
+	if (!adis->xfer)
+		return -ENOMEM;
+
+	adis->buffer = kzalloc(indio_dev->scan_bytes * 2, GFP_KERNEL);
+	if (!adis->buffer)
+		return -ENOMEM;
+
+	rx = adis->buffer;
+	tx = rx + indio_dev->scan_bytes;
+
+	spi_message_init(&adis->msg);
+
+	for (j = 0; j <= scan_count; j++) {
+		adis->xfer[j].bits_per_word = 8;
+		if (j != scan_count)
+			adis->xfer[j].cs_change = 1;
+		adis->xfer[j].len = 2;
+		adis->xfer[j].delay_usecs = adis->data->read_delay;
+		if (j < scan_count)
+			adis->xfer[j].tx_buf = &tx[j];
+		if (j >= 1)
+			adis->xfer[j].rx_buf = &rx[j - 1];
+		spi_message_add_tail(&adis->xfer[j], &adis->msg);
+	}
+
+	chan = indio_dev->channels;
+	for (i = 0; i < indio_dev->num_channels; i++, chan++) {
+		if (!test_bit(chan->scan_index, scan_mask))
+			continue;
+		if (chan->scan_type.storagebits == 32)
+			*tx++ = cpu_to_be16((chan->address + 2) << 8);
+		*tx++ = cpu_to_be16(chan->address << 8);
+	}
+
+	return 0;
+}
+EXPORT_SYMBOL_GPL(adis_update_scan_mode);
+
+static irqreturn_t adis_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct adis *adis = iio_device_get_drvdata(indio_dev);
+	int ret;
+
+	if (!adis->buffer)
+		return -ENOMEM;
+
+	if (adis->data->has_paging) {
+		mutex_lock(&adis->txrx_lock);
+		if (adis->current_page != 0) {
+			adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
+			adis->tx[1] = 0;
+			spi_write(adis->spi, adis->tx, 2);
+		}
+	}
+
+	ret = spi_sync(adis->spi, &adis->msg);
+	if (ret)
+		dev_err(&adis->spi->dev, "Failed to read data: %d", ret);
+
+
+	if (adis->data->has_paging) {
+		adis->current_page = 0;
+		mutex_unlock(&adis->txrx_lock);
+	}
+
+	/* Guaranteed to be aligned with 8 byte boundary */
+	if (indio_dev->scan_timestamp) {
+		void *b = adis->buffer + indio_dev->scan_bytes - sizeof(s64);
+		*(s64 *)b = pf->timestamp;
+	}
+
+	iio_push_to_buffers(indio_dev, adis->buffer);
+
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
+
+/**
+ * adis_setup_buffer_and_trigger() - Sets up buffer and trigger for the adis device
+ * @adis: The adis device.
+ * @indio_dev: The IIO device.
+ * @trigger_handler: Optional trigger handler, may be NULL.
+ *
+ * Returns 0 on success, a negative error code otherwise.
+ *
+ * This function sets up the buffer and trigger for a adis devices.  If
+ * 'trigger_handler' is NULL the default trigger handler will be used. The
+ * default trigger handler will simply read the registers assigned to the
+ * currently active channels.
+ *
+ * adis_cleanup_buffer_and_trigger() should be called to free the resources
+ * allocated by this function.
+ */
+int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev,
+	irqreturn_t (*trigger_handler)(int, void *))
+{
+	int ret;
+
+	if (!trigger_handler)
+		trigger_handler = adis_trigger_handler;
+
+	ret = iio_triggered_buffer_setup(indio_dev, &iio_pollfunc_store_time,
+		trigger_handler, NULL);
+	if (ret)
+		return ret;
+
+	if (adis->spi->irq) {
+		ret = adis_probe_trigger(adis, indio_dev);
+		if (ret)
+			goto error_buffer_cleanup;
+	}
+	return 0;
+
+error_buffer_cleanup:
+	iio_triggered_buffer_cleanup(indio_dev);
+	return ret;
+}
+EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger);
+
+/**
+ * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources
+ * @adis: The adis device.
+ * @indio_dev: The IIO device.
+ *
+ * Frees resources allocated by adis_setup_buffer_and_trigger()
+ */
+void adis_cleanup_buffer_and_trigger(struct adis *adis,
+	struct iio_dev *indio_dev)
+{
+	if (adis->spi->irq)
+		adis_remove_trigger(adis);
+	kfree(adis->buffer);
+	kfree(adis->xfer);
+	iio_triggered_buffer_cleanup(indio_dev);
+}
+EXPORT_SYMBOL_GPL(adis_cleanup_buffer_and_trigger);
diff --git a/drivers/iio/imu/adis_trigger.c b/drivers/iio/imu/adis_trigger.c
new file mode 100644
index 00000000000..e0017c22bb9
--- /dev/null
+++ b/drivers/iio/imu/adis_trigger.c
@@ -0,0 +1,89 @@
+/*
+ * Common library for ADIS16XXX devices
+ *
+ * Copyright 2012 Analog Devices Inc.
+ *   Author: Lars-Peter Clausen <lars@metafoo.de>
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/export.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/imu/adis.h>
+
+static int adis_data_rdy_trigger_set_state(struct iio_trigger *trig,
+						bool state)
+{
+	struct adis *adis = iio_trigger_get_drvdata(trig);
+
+	return adis_enable_irq(adis, state);
+}
+
+static const struct iio_trigger_ops adis_trigger_ops = {
+	.owner = THIS_MODULE,
+	.set_trigger_state = &adis_data_rdy_trigger_set_state,
+};
+
+/**
+ * adis_probe_trigger() - Sets up trigger for a adis device
+ * @adis: The adis device
+ * @indio_dev: The IIO device
+ *
+ * Returns 0 on success or a negative error code
+ *
+ * adis_remove_trigger() should be used to free the trigger.
+ */
+int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev)
+{
+	int ret;
+
+	adis->trig = iio_trigger_alloc("%s-dev%d", indio_dev->name,
+					indio_dev->id);
+	if (adis->trig == NULL)
+		return -ENOMEM;
+
+	ret = request_irq(adis->spi->irq,
+			  &iio_trigger_generic_data_rdy_poll,
+			  IRQF_TRIGGER_RISING,
+			  indio_dev->name,
+			  adis->trig);
+	if (ret)
+		goto error_free_trig;
+
+	adis->trig->dev.parent = &adis->spi->dev;
+	adis->trig->ops = &adis_trigger_ops;
+	iio_trigger_set_drvdata(adis->trig, adis);
+	ret = iio_trigger_register(adis->trig);
+
+	indio_dev->trig = adis->trig;
+	if (ret)
+		goto error_free_irq;
+
+	return 0;
+
+error_free_irq:
+	free_irq(adis->spi->irq, adis->trig);
+error_free_trig:
+	iio_trigger_free(adis->trig);
+	return ret;
+}
+EXPORT_SYMBOL_GPL(adis_probe_trigger);
+
+/**
+ * adis_remove_trigger() - Remove trigger for a adis devices
+ * @adis: The adis device
+ *
+ * Removes the trigger previously registered with adis_probe_trigger().
+ */
+void adis_remove_trigger(struct adis *adis)
+{
+	iio_trigger_unregister(adis->trig);
+	free_irq(adis->spi->irq, adis->trig);
+	iio_trigger_free(adis->trig);
+}
+EXPORT_SYMBOL_GPL(adis_remove_trigger);
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
new file mode 100644
index 00000000000..361b2328453
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -0,0 +1,14 @@
+#
+# inv-mpu6050 drivers for Invensense MPU devices and combos
+#
+
+config INV_MPU6050_IIO
+	tristate "Invensense MPU6050 devices"
+	depends on I2C && SYSFS
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+	help
+	  This driver supports the Invensense MPU6050 devices.
+	  It is a gyroscope/accelerometer combo device.
+	  This driver can be built as a module. The module will be called
+	  inv-mpu6050.
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
new file mode 100644
index 00000000000..3a677c778af
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -0,0 +1,6 @@
+#
+# Makefile for Invensense MPU6050 device.
+#
+
+obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
+inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
new file mode 100644
index 00000000000..fe4c61e219f
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -0,0 +1,795 @@
+/*
+* 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>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/err.h>
+#include <linux/delay.h>
+#include <linux/sysfs.h>
+#include <linux/jiffies.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+#include <linux/kfifo.h>
+#include <linux/spinlock.h>
+#include "inv_mpu_iio.h"
+
+/*
+ * this is the gyro scale translated from dynamic range plus/minus
+ * {250, 500, 1000, 2000} to rad/s
+ */
+static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
+
+/*
+ * this is the accel scale translated from dynamic range plus/minus
+ * {2, 4, 8, 16} to m/s^2
+ */
+static const int accel_scale[] = {598, 1196, 2392, 4785};
+
+static const struct inv_mpu6050_reg_map reg_set_6050 = {
+	.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,
+};
+
+static const struct inv_mpu6050_chip_config chip_config_6050 = {
+	.fsr = INV_MPU6050_FSR_2000DPS,
+	.lpf = INV_MPU6050_FILTER_20HZ,
+	.fifo_rate = INV_MPU6050_INIT_FIFO_RATE,
+	.gyro_fifo_enable = false,
+	.accl_fifo_enable = false,
+	.accl_fs = INV_MPU6050_FS_02G,
+};
+
+static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
+	{
+		.num_reg = 117,
+		.name = "MPU6050",
+		.reg = &reg_set_6050,
+		.config = &chip_config_6050,
+	},
+};
+
+int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 d)
+{
+	return i2c_smbus_write_i2c_block_data(st->client, reg, 1, &d);
+}
+
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
+{
+	u8 d, mgmt_1;
+	int result;
+
+	/* switch clock needs to be careful. Only when gyro is on, can
+	   clock source be switched to gyro. Otherwise, it must be set to
+	   internal clock */
+	if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
+		result = i2c_smbus_read_i2c_block_data(st->client,
+				       st->reg->pwr_mgmt_1, 1, &mgmt_1);
+		if (result != 1)
+			return result;
+
+		mgmt_1 &= ~INV_MPU6050_BIT_CLK_MASK;
+	}
+
+	if ((INV_MPU6050_BIT_PWR_GYRO_STBY == mask) && (!en)) {
+		/* turning off gyro requires switch to internal clock first.
+		   Then turn off gyro engine */
+		mgmt_1 |= INV_CLK_INTERNAL;
+		result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, mgmt_1);
+		if (result)
+			return result;
+	}
+
+	result = i2c_smbus_read_i2c_block_data(st->client,
+				       st->reg->pwr_mgmt_2, 1, &d);
+	if (result != 1)
+		return result;
+	if (en)
+		d &= ~mask;
+	else
+		d |= mask;
+	result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
+	if (result)
+		return result;
+
+	if (en) {
+		/* Wait for output stablize */
+		msleep(INV_MPU6050_TEMP_UP_TIME);
+		if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
+			/* switch internal clock to PLL */
+			mgmt_1 |= INV_CLK_PLL;
+			result = inv_mpu6050_write_reg(st,
+					st->reg->pwr_mgmt_1, mgmt_1);
+			if (result)
+				return result;
+		}
+	}
+
+	return 0;
+}
+
+int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
+{
+	int result;
+
+	if (power_on)
+		result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1, 0);
+	else
+		result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
+						INV_MPU6050_BIT_SLEEP);
+	if (result)
+		return result;
+
+	if (power_on)
+		msleep(INV_MPU6050_REG_UP_TIME);
+
+	return 0;
+}
+
+/**
+ *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
+ *
+ *  Initial configuration:
+ *  FSR: ± 2000DPS
+ *  DLPF: 20Hz
+ *  FIFO rate: 50Hz
+ *  Clock source: Gyro PLL
+ */
+static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
+{
+	int result;
+	u8 d;
+	struct inv_mpu6050_state *st = iio_priv(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 = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
+	if (result)
+		return result;
+
+	d = INV_MPU6050_FILTER_20HZ;
+	result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
+	if (result)
+		return result;
+
+	d = INV_MPU6050_ONE_K_HZ / INV_MPU6050_INIT_FIFO_RATE - 1;
+	result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
+	if (result)
+		return result;
+
+	d = (INV_MPU6050_FS_02G << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
+	result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
+	if (result)
+		return result;
+
+	memcpy(&st->chip_config, hw_info[st->chip_type].config,
+		sizeof(struct inv_mpu6050_chip_config));
+	result = inv_mpu6050_set_power_itg(st, false);
+
+	return result;
+}
+
+static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
+				int axis, int *val)
+{
+	int ind, result;
+	__be16 d;
+
+	ind = (axis - IIO_MOD_X) * 2;
+	result = i2c_smbus_read_i2c_block_data(st->client, reg + ind,  2,
+						(u8 *)&d);
+	if (result != 2)
+		return -EINVAL;
+	*val = (short)be16_to_cpup(&d);
+
+	return IIO_VAL_INT;
+}
+
+static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
+			      struct iio_chan_spec const *chan,
+			      int *val,
+			      int *val2,
+			      long mask) {
+	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+	{
+		int ret, result;
+
+		ret = IIO_VAL_INT;
+		result = 0;
+		mutex_lock(&indio_dev->mlock);
+		if (!st->chip_config.enable) {
+			result = inv_mpu6050_set_power_itg(st, true);
+			if (result)
+				goto error_read_raw;
+		}
+		/* when enable is on, power is already on */
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			if (!st->chip_config.gyro_fifo_enable ||
+					!st->chip_config.enable) {
+				result = inv_mpu6050_switch_engine(st, true,
+						INV_MPU6050_BIT_PWR_GYRO_STBY);
+				if (result)
+					goto error_read_raw;
+			}
+			ret =  inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
+						chan->channel2, val);
+			if (!st->chip_config.gyro_fifo_enable ||
+					!st->chip_config.enable) {
+				result = inv_mpu6050_switch_engine(st, false,
+						INV_MPU6050_BIT_PWR_GYRO_STBY);
+				if (result)
+					goto error_read_raw;
+			}
+			break;
+		case IIO_ACCEL:
+			if (!st->chip_config.accl_fifo_enable ||
+					!st->chip_config.enable) {
+				result = inv_mpu6050_switch_engine(st, true,
+						INV_MPU6050_BIT_PWR_ACCL_STBY);
+				if (result)
+					goto error_read_raw;
+			}
+			ret = inv_mpu6050_sensor_show(st, st->reg->raw_accl,
+						chan->channel2, val);
+			if (!st->chip_config.accl_fifo_enable ||
+					!st->chip_config.enable) {
+				result = inv_mpu6050_switch_engine(st, false,
+						INV_MPU6050_BIT_PWR_ACCL_STBY);
+				if (result)
+					goto error_read_raw;
+			}
+			break;
+		case IIO_TEMP:
+			/* wait for stablization */
+			msleep(INV_MPU6050_SENSOR_UP_TIME);
+			inv_mpu6050_sensor_show(st, st->reg->temperature,
+							IIO_MOD_X, val);
+			break;
+		default:
+			ret = -EINVAL;
+			break;
+		}
+error_read_raw:
+		if (!st->chip_config.enable)
+			result |= inv_mpu6050_set_power_itg(st, false);
+		mutex_unlock(&indio_dev->mlock);
+		if (result)
+			return result;
+
+		return ret;
+	}
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val  = 0;
+			*val2 = gyro_scale_6050[st->chip_config.fsr];
+
+			return IIO_VAL_INT_PLUS_NANO;
+		case IIO_ACCEL:
+			*val = 0;
+			*val2 = accel_scale[st->chip_config.accl_fs];
+
+			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_TEMP:
+			*val = 0;
+			*val2 = INV_MPU6050_TEMP_SCALE;
+
+			return IIO_VAL_INT_PLUS_MICRO;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_OFFSET:
+		switch (chan->type) {
+		case IIO_TEMP:
+			*val = INV_MPU6050_TEMP_OFFSET;
+
+			return IIO_VAL_INT;
+		default:
+			return -EINVAL;
+		}
+	default:
+		return -EINVAL;
+	}
+}
+
+static int inv_mpu6050_write_fsr(struct inv_mpu6050_state *st, int fsr)
+{
+	int result;
+	u8 d;
+
+	if (fsr < 0 || fsr > INV_MPU6050_MAX_GYRO_FS_PARAM)
+		return -EINVAL;
+	if (fsr == st->chip_config.fsr)
+		return 0;
+
+	d = (fsr << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
+	result = inv_mpu6050_write_reg(st, st->reg->gyro_config, d);
+	if (result)
+		return result;
+	st->chip_config.fsr = fsr;
+
+	return 0;
+}
+
+static int inv_mpu6050_write_accel_fs(struct inv_mpu6050_state *st, int fs)
+{
+	int result;
+	u8 d;
+
+	if (fs < 0 || fs > INV_MPU6050_MAX_ACCL_FS_PARAM)
+		return -EINVAL;
+	if (fs == st->chip_config.accl_fs)
+		return 0;
+
+	d = (fs << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
+	result = inv_mpu6050_write_reg(st, st->reg->accl_config, d);
+	if (result)
+		return result;
+	st->chip_config.accl_fs = fs;
+
+	return 0;
+}
+
+static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan,
+			       int val,
+			       int val2,
+			       long mask) {
+	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
+	int result;
+
+	mutex_lock(&indio_dev->mlock);
+	/* we should only update scale when the chip is disabled, i.e.,
+		not running */
+	if (st->chip_config.enable) {
+		result = -EBUSY;
+		goto error_write_raw;
+	}
+	result = inv_mpu6050_set_power_itg(st, true);
+	if (result)
+		goto error_write_raw;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			result = inv_mpu6050_write_fsr(st, val);
+			break;
+		case IIO_ACCEL:
+			result = inv_mpu6050_write_accel_fs(st, val);
+			break;
+		default:
+			result = -EINVAL;
+			break;
+		}
+		break;
+	default:
+		result = -EINVAL;
+		break;
+	}
+
+error_write_raw:
+	result |= inv_mpu6050_set_power_itg(st, false);
+	mutex_unlock(&indio_dev->mlock);
+
+	return result;
+}
+
+/**
+ *  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.
+ */
+static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
+{
+	const int hz[] = {188, 98, 42, 20, 10, 5};
+	const int d[] = {INV_MPU6050_FILTER_188HZ, INV_MPU6050_FILTER_98HZ,
+			INV_MPU6050_FILTER_42HZ, INV_MPU6050_FILTER_20HZ,
+			INV_MPU6050_FILTER_10HZ, INV_MPU6050_FILTER_5HZ};
+	int i, h, result;
+	u8 data;
+
+	h = (rate >> 1);
+	i = 0;
+	while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
+		i++;
+	data = d[i];
+	result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
+	if (result)
+		return result;
+	st->chip_config.lpf = data;
+
+	return 0;
+}
+
+/**
+ * inv_mpu6050_fifo_rate_store() - Set fifo rate.
+ */
+static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
+	struct device_attribute *attr, const char *buf, size_t count)
+{
+	s32 fifo_rate;
+	u8 d;
+	int result;
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+	if (kstrtoint(buf, 10, &fifo_rate))
+		return -EINVAL;
+	if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
+				fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
+		return -EINVAL;
+	if (fifo_rate == st->chip_config.fifo_rate)
+		return count;
+
+	mutex_lock(&indio_dev->mlock);
+	if (st->chip_config.enable) {
+		result = -EBUSY;
+		goto fifo_rate_fail;
+	}
+	result = inv_mpu6050_set_power_itg(st, true);
+	if (result)
+		goto fifo_rate_fail;
+
+	d = INV_MPU6050_ONE_K_HZ / fifo_rate - 1;
+	result = inv_mpu6050_write_reg(st, st->reg->sample_rate_div, d);
+	if (result)
+		goto fifo_rate_fail;
+	st->chip_config.fifo_rate = fifo_rate;
+
+	result = inv_mpu6050_set_lpf(st, fifo_rate);
+	if (result)
+		goto fifo_rate_fail;
+
+fifo_rate_fail:
+	result |= inv_mpu6050_set_power_itg(st, false);
+	mutex_unlock(&indio_dev->mlock);
+	if (result)
+		return result;
+
+	return count;
+}
+
+/**
+ * inv_fifo_rate_show() - Get the current sampling rate.
+ */
+static ssize_t inv_fifo_rate_show(struct device *dev,
+	struct device_attribute *attr, char *buf)
+{
+	struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
+
+	return sprintf(buf, "%d\n", st->chip_config.fifo_rate);
+}
+
+/**
+ * inv_attr_show() - calling this function will show current
+ *                    parameters.
+ */
+static ssize_t inv_attr_show(struct device *dev,
+	struct device_attribute *attr, char *buf)
+{
+	struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
+	struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+	s8 *m;
+
+	switch (this_attr->address) {
+	/* In MPU6050, the two matrix are the same because gyro and accel
+	   are integrated in one chip */
+	case ATTR_GYRO_MATRIX:
+	case ATTR_ACCL_MATRIX:
+		m = st->plat_data.orientation;
+
+		return sprintf(buf, "%d, %d, %d; %d, %d, %d; %d, %d, %d\n",
+			m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8]);
+	default:
+		return -EINVAL;
+	}
+}
+
+/**
+ * inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
+ *                                  MPU6050 device.
+ * @indio_dev: The IIO device
+ * @trig: The new trigger
+ *
+ * Returns: 0 if the 'trig' matches the trigger registered by the MPU6050
+ * device, -EINVAL otherwise.
+ */
+static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
+					struct iio_trigger *trig)
+{
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+	if (st->trig != trig)
+		return -EINVAL;
+
+	return 0;
+}
+
+#define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
+	{                                                             \
+		.type = _type,                                        \
+		.modified = 1,                                        \
+		.channel2 = _channel2,                                \
+		.info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
+		.scan_index = _index,                                 \
+		.scan_type = {                                        \
+				.sign = 's',                          \
+				.realbits = 16,                       \
+				.storagebits = 16,                    \
+				.shift = 0 ,                          \
+				.endianness = IIO_BE,                 \
+			     },                                       \
+	}
+
+static const struct iio_chan_spec inv_mpu_channels[] = {
+	IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_SCAN_TIMESTAMP),
+	/*
+	 * Note that temperature should only be via polled reading only,
+	 * not the final scan elements output.
+	 */
+	{
+		.type = IIO_TEMP,
+		.info_mask_separate =  BIT(IIO_CHAN_INFO_RAW)
+				| BIT(IIO_CHAN_INFO_OFFSET)
+				| BIT(IIO_CHAN_INFO_SCALE),
+		.scan_index = -1,
+	},
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
+
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU6050_SCAN_ACCL_X),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU6050_SCAN_ACCL_Y),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
+};
+
+/* constant IIO attribute */
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("10 20 50 100 200 500");
+static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
+	inv_mpu6050_fifo_rate_store);
+static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
+	ATTR_GYRO_MATRIX);
+static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
+	ATTR_ACCL_MATRIX);
+
+static struct attribute *inv_attributes[] = {
+	&iio_dev_attr_in_gyro_matrix.dev_attr.attr,
+	&iio_dev_attr_in_accel_matrix.dev_attr.attr,
+	&iio_dev_attr_sampling_frequency.dev_attr.attr,
+	&iio_const_attr_sampling_frequency_available.dev_attr.attr,
+	NULL,
+};
+
+static const struct attribute_group inv_attribute_group = {
+	.attrs = inv_attributes
+};
+
+static const struct iio_info mpu_info = {
+	.driver_module = THIS_MODULE,
+	.read_raw = &inv_mpu6050_read_raw,
+	.write_raw = &inv_mpu6050_write_raw,
+	.attrs = &inv_attribute_group,
+	.validate_trigger = inv_mpu6050_validate_trigger,
+};
+
+/**
+ *  inv_check_and_setup_chip() - check and setup chip.
+ */
+static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
+		const struct i2c_device_id *id)
+{
+	int result;
+
+	st->chip_type = INV_MPU6050;
+	st->hw  = &hw_info[st->chip_type];
+	st->reg = hw_info[st->chip_type].reg;
+
+	/* reset to make sure previous state are not there */
+	result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
+					INV_MPU6050_BIT_H_RESET);
+	if (result)
+		return result;
+	msleep(INV_MPU6050_POWER_UP_TIME);
+	/* toggle power state. After reset, the sleep bit could be on
+		or off depending on the OTP settings. Toggling power would
+		make it in a definite state as well as making the hardware
+		state align with the software state */
+	result = inv_mpu6050_set_power_itg(st, false);
+	if (result)
+		return result;
+	result = inv_mpu6050_set_power_itg(st, true);
+	if (result)
+		return result;
+
+	result = inv_mpu6050_switch_engine(st, false,
+					INV_MPU6050_BIT_PWR_ACCL_STBY);
+	if (result)
+		return result;
+	result = inv_mpu6050_switch_engine(st, false,
+					INV_MPU6050_BIT_PWR_GYRO_STBY);
+	if (result)
+		return result;
+
+	return 0;
+}
+
+/**
+ *  inv_mpu_probe() - probe function.
+ *  @client:          i2c client.
+ *  @id:              i2c device id.
+ *
+ *  Returns 0 on success, a negative error code otherwise.
+ */
+static int inv_mpu_probe(struct i2c_client *client,
+	const struct i2c_device_id *id)
+{
+	struct inv_mpu6050_state *st;
+	struct iio_dev *indio_dev;
+	int result;
+
+	if (!i2c_check_functionality(client->adapter,
+					I2C_FUNC_SMBUS_READ_I2C_BLOCK |
+					I2C_FUNC_SMBUS_WRITE_I2C_BLOCK)) {
+		result = -ENOSYS;
+		goto out_no_free;
+	}
+	indio_dev = iio_device_alloc(sizeof(*st));
+	if (indio_dev == NULL) {
+		result =  -ENOMEM;
+		goto out_no_free;
+	}
+	st = iio_priv(indio_dev);
+	st->client = client;
+	st->plat_data = *(struct inv_mpu6050_platform_data
+				*)dev_get_platdata(&client->dev);
+	/* power is turned on inside check chip type*/
+	result = inv_check_and_setup_chip(st, id);
+	if (result)
+		goto out_free;
+
+	result = inv_mpu6050_init_config(indio_dev);
+	if (result) {
+		dev_err(&client->dev,
+			"Could not initialize device.\n");
+		goto out_free;
+	}
+
+	i2c_set_clientdata(client, indio_dev);
+	indio_dev->dev.parent = &client->dev;
+	indio_dev->name = id->name;
+	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;
+
+	result = iio_triggered_buffer_setup(indio_dev,
+					    inv_mpu6050_irq_handler,
+					    inv_mpu6050_read_fifo,
+					    NULL);
+	if (result) {
+		dev_err(&st->client->dev, "configure buffer fail %d\n",
+				result);
+		goto out_free;
+	}
+	result = inv_mpu6050_probe_trigger(indio_dev);
+	if (result) {
+		dev_err(&st->client->dev, "trigger probe fail %d\n", result);
+		goto out_unreg_ring;
+	}
+
+	INIT_KFIFO(st->timestamps);
+	spin_lock_init(&st->time_stamp_lock);
+	result = iio_device_register(indio_dev);
+	if (result) {
+		dev_err(&st->client->dev, "IIO register fail %d\n", result);
+		goto out_remove_trigger;
+	}
+
+	return 0;
+
+out_remove_trigger:
+	inv_mpu6050_remove_trigger(st);
+out_unreg_ring:
+	iio_triggered_buffer_cleanup(indio_dev);
+out_free:
+	iio_device_free(indio_dev);
+out_no_free:
+
+	return result;
+}
+
+static int inv_mpu_remove(struct i2c_client *client)
+{
+	struct iio_dev *indio_dev = i2c_get_clientdata(client);
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	inv_mpu6050_remove_trigger(st);
+	iio_triggered_buffer_cleanup(indio_dev);
+	iio_device_free(indio_dev);
+
+	return 0;
+}
+#ifdef CONFIG_PM_SLEEP
+
+static int inv_mpu_resume(struct device *dev)
+{
+	return inv_mpu6050_set_power_itg(
+		iio_priv(i2c_get_clientdata(to_i2c_client(dev))), true);
+}
+
+static int inv_mpu_suspend(struct device *dev)
+{
+	return inv_mpu6050_set_power_itg(
+		iio_priv(i2c_get_clientdata(to_i2c_client(dev))), false);
+}
+static SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
+
+#define INV_MPU6050_PMOPS (&inv_mpu_pmops)
+#else
+#define INV_MPU6050_PMOPS NULL
+#endif /* CONFIG_PM_SLEEP */
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct i2c_device_id inv_mpu_id[] = {
+	{"mpu6050", INV_MPU6050},
+	{}
+};
+
+MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
+
+static struct i2c_driver inv_mpu_driver = {
+	.probe		=	inv_mpu_probe,
+	.remove		=	inv_mpu_remove,
+	.id_table	=	inv_mpu_id,
+	.driver = {
+		.owner	=	THIS_MODULE,
+		.name	=	"inv-mpu6050",
+		.pm     =       INV_MPU6050_PMOPS,
+	},
+};
+
+module_i2c_driver(inv_mpu_driver);
+
+MODULE_AUTHOR("Invensense Corporation");
+MODULE_DESCRIPTION("Invensense device MPU6050 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
new file mode 100644
index 00000000000..f38395529a4
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -0,0 +1,246 @@
+/*
+* 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/i2c.h>
+#include <linux/kfifo.h>
+#include <linux/spinlock.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/platform_data/invensense_mpu6050.h>
+
+/**
+ *  struct inv_mpu6050_reg_map - Notable registers.
+ *  @sample_rate_div:	Divider applied to gyro output rate.
+ *  @lpf:		Configures internal low pass filter.
+ *  @user_ctrl:		Enables/resets the FIFO.
+ *  @fifo_en:		Determines which data will appear in FIFO.
+ *  @gyro_config:	gyro config register.
+ *  @accl_config:	accel config register
+ *  @fifo_count_h:	Upper byte of FIFO count.
+ *  @fifo_r_w:		FIFO register.
+ *  @raw_gyro:		Address of first gyro register.
+ *  @raw_accl:		Address of first accel register.
+ *  @temperature:	temperature register
+ *  @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.
+ */
+struct inv_mpu6050_reg_map {
+	u8 sample_rate_div;
+	u8 lpf;
+	u8 user_ctrl;
+	u8 fifo_en;
+	u8 gyro_config;
+	u8 accl_config;
+	u8 fifo_count_h;
+	u8 fifo_r_w;
+	u8 raw_gyro;
+	u8 raw_accl;
+	u8 temperature;
+	u8 int_enable;
+	u8 pwr_mgmt_1;
+	u8 pwr_mgmt_2;
+};
+
+/*device enum */
+enum inv_devices {
+	INV_MPU6050,
+	INV_NUM_PARTS
+};
+
+/**
+ *  struct inv_mpu6050_chip_config - Cached chip configuration data.
+ *  @fsr:		Full scale range.
+ *  @lpf:		Digital low pass filter frequency.
+ *  @accl_fs:		accel full scale range.
+ *  @enable:		master enable state.
+ *  @accl_fifo_enable:	enable accel data output
+ *  @gyro_fifo_enable:	enable gyro data output
+ *  @fifo_rate:		FIFO update rate.
+ */
+struct inv_mpu6050_chip_config {
+	unsigned int fsr:2;
+	unsigned int lpf:3;
+	unsigned int accl_fs:2;
+	unsigned int enable:1;
+	unsigned int accl_fifo_enable:1;
+	unsigned int gyro_fifo_enable:1;
+	u16 fifo_rate;
+};
+
+/**
+ *  struct inv_mpu6050_hw - Other important hardware information.
+ *  @num_reg:	Number of registers on device.
+ *  @name:      name of the chip.
+ *  @reg:   register map of the chip.
+ *  @config:    configuration of the chip.
+ */
+struct inv_mpu6050_hw {
+	u8 num_reg;
+	u8 *name;
+	const struct inv_mpu6050_reg_map *reg;
+	const struct inv_mpu6050_chip_config *config;
+};
+
+/*
+ *  struct inv_mpu6050_state - Driver state variables.
+ *  @TIMESTAMP_FIFO_SIZE: fifo size for timestamp.
+ *  @trig:              IIO trigger.
+ *  @chip_config:	Cached attribute information.
+ *  @reg:		Map of important registers.
+ *  @hw:		Other hardware-specific information.
+ *  @chip_type:		chip type.
+ *  @time_stamp_lock:	spin lock to time stamp.
+ *  @client:		i2c client handle.
+ *  @plat_data:		platform data.
+ *  @timestamps:        kfifo queue to store time stamp.
+ */
+struct inv_mpu6050_state {
+#define TIMESTAMP_FIFO_SIZE 16
+	struct iio_trigger  *trig;
+	struct inv_mpu6050_chip_config chip_config;
+	const struct inv_mpu6050_reg_map *reg;
+	const struct inv_mpu6050_hw *hw;
+	enum   inv_devices chip_type;
+	spinlock_t time_stamp_lock;
+	struct i2c_client *client;
+	struct inv_mpu6050_platform_data plat_data;
+	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
+};
+
+/*register and associated bit definition*/
+#define INV_MPU6050_REG_SAMPLE_RATE_DIV     0x19
+#define INV_MPU6050_REG_CONFIG              0x1A
+#define INV_MPU6050_REG_GYRO_CONFIG         0x1B
+#define INV_MPU6050_REG_ACCEL_CONFIG	    0x1C
+
+#define INV_MPU6050_REG_FIFO_EN             0x23
+#define INV_MPU6050_BIT_ACCEL_OUT                   0x08
+#define INV_MPU6050_BITS_GYRO_OUT                   0x70
+
+#define INV_MPU6050_REG_INT_ENABLE          0x38
+#define INV_MPU6050_BIT_DATA_RDY_EN                 0x01
+#define INV_MPU6050_BIT_DMP_INT_EN                  0x02
+
+#define INV_MPU6050_REG_RAW_ACCEL           0x3B
+#define INV_MPU6050_REG_TEMPERATURE         0x41
+#define INV_MPU6050_REG_RAW_GYRO            0x43
+
+#define INV_MPU6050_REG_USER_CTRL           0x6A
+#define INV_MPU6050_BIT_FIFO_RST                    0x04
+#define INV_MPU6050_BIT_DMP_RST                     0x08
+#define INV_MPU6050_BIT_I2C_MST_EN                  0x20
+#define INV_MPU6050_BIT_FIFO_EN                     0x40
+#define INV_MPU6050_BIT_DMP_EN                      0x80
+
+#define INV_MPU6050_REG_PWR_MGMT_1          0x6B
+#define INV_MPU6050_BIT_H_RESET                     0x80
+#define INV_MPU6050_BIT_SLEEP                       0x40
+#define INV_MPU6050_BIT_CLK_MASK                    0x7
+
+#define INV_MPU6050_REG_PWR_MGMT_2          0x6C
+#define INV_MPU6050_BIT_PWR_ACCL_STBY               0x38
+#define INV_MPU6050_BIT_PWR_GYRO_STBY               0x07
+
+#define INV_MPU6050_REG_FIFO_COUNT_H        0x72
+#define INV_MPU6050_REG_FIFO_R_W            0x74
+
+#define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
+#define INV_MPU6050_FIFO_COUNT_BYTE          2
+#define INV_MPU6050_FIFO_THRESHOLD           500
+#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
+
+#define INV_MPU6050_TEMP_OFFSET	             12421
+#define INV_MPU6050_TEMP_SCALE               2941
+#define INV_MPU6050_MAX_GYRO_FS_PARAM        3
+#define INV_MPU6050_MAX_ACCL_FS_PARAM        3
+#define INV_MPU6050_THREE_AXIS               3
+#define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT    3
+#define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT    3
+
+/* 6 + 6 round up and plus 8 */
+#define INV_MPU6050_OUTPUT_DATA_SIZE         24
+
+/* init parameters */
+#define INV_MPU6050_INIT_FIFO_RATE           50
+#define INV_MPU6050_TIME_STAMP_TOR                        5
+#define INV_MPU6050_MAX_FIFO_RATE                         1000
+#define INV_MPU6050_MIN_FIFO_RATE                         4
+#define INV_MPU6050_ONE_K_HZ                              1000
+
+/* scan element definition */
+enum inv_mpu6050_scan {
+	INV_MPU6050_SCAN_ACCL_X,
+	INV_MPU6050_SCAN_ACCL_Y,
+	INV_MPU6050_SCAN_ACCL_Z,
+	INV_MPU6050_SCAN_GYRO_X,
+	INV_MPU6050_SCAN_GYRO_Y,
+	INV_MPU6050_SCAN_GYRO_Z,
+	INV_MPU6050_SCAN_TIMESTAMP,
+};
+
+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_20HZ,
+	INV_MPU6050_FILTER_10HZ,
+	INV_MPU6050_FILTER_5HZ,
+	INV_MPU6050_FILTER_2100HZ_NOLPF,
+	NUM_MPU6050_FILTER
+};
+
+/* IIO attribute address */
+enum INV_MPU6050_IIO_ATTR_ADDR {
+	ATTR_GYRO_MATRIX,
+	ATTR_ACCL_MATRIX,
+};
+
+enum inv_mpu6050_accl_fs_e {
+	INV_MPU6050_FS_02G = 0,
+	INV_MPU6050_FS_04G,
+	INV_MPU6050_FS_08G,
+	INV_MPU6050_FS_16G,
+	NUM_ACCL_FSR
+};
+
+enum inv_mpu6050_fsr_e {
+	INV_MPU6050_FSR_250DPS = 0,
+	INV_MPU6050_FSR_500DPS,
+	INV_MPU6050_FSR_1000DPS,
+	INV_MPU6050_FSR_2000DPS,
+	NUM_MPU6050_FSR
+};
+
+enum inv_mpu6050_clock_sel_e {
+	INV_CLK_INTERNAL = 0,
+	INV_CLK_PLL,
+	NUM_CLK
+};
+
+irqreturn_t inv_mpu6050_irq_handler(int irq, void *p);
+irqreturn_t inv_mpu6050_read_fifo(int irq, void *p);
+int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev);
+void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st);
+int inv_reset_fifo(struct iio_dev *indio_dev);
+int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask);
+int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
+int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
new file mode 100644
index 00000000000..7da0832f187
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -0,0 +1,195 @@
+/*
+* 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>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/err.h>
+#include <linux/delay.h>
+#include <linux/sysfs.h>
+#include <linux/jiffies.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+#include <linux/kfifo.h>
+#include <linux/poll.h>
+#include "inv_mpu_iio.h"
+
+int inv_reset_fifo(struct iio_dev *indio_dev)
+{
+	int result;
+	u8 d;
+	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
+
+	/* disable interrupt */
+	result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
+	if (result) {
+		dev_err(&st->client->dev, "int_enable failed %d\n", result);
+		return result;
+	}
+	/* disable the sensor output to FIFO */
+	result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);
+	if (result)
+		goto reset_fifo_fail;
+	/* disable fifo reading */
+	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);
+	if (result)
+		goto reset_fifo_fail;
+
+	/* reset FIFO*/
+	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,
+					INV_MPU6050_BIT_FIFO_RST);
+	if (result)
+		goto reset_fifo_fail;
+	/* enable interrupt */
+	if (st->chip_config.accl_fifo_enable ||
+	    st->chip_config.gyro_fifo_enable) {
+		result = inv_mpu6050_write_reg(st, st->reg->int_enable,
+					INV_MPU6050_BIT_DATA_RDY_EN);
+		if (result)
+			return result;
+	}
+	/* enable FIFO reading and I2C master interface*/
+	result = inv_mpu6050_write_reg(st, st->reg->user_ctrl,
+					INV_MPU6050_BIT_FIFO_EN);
+	if (result)
+		goto reset_fifo_fail;
+	/* enable sensor output to FIFO */
+	d = 0;
+	if (st->chip_config.gyro_fifo_enable)
+		d |= INV_MPU6050_BITS_GYRO_OUT;
+	if (st->chip_config.accl_fifo_enable)
+		d |= INV_MPU6050_BIT_ACCEL_OUT;
+	result = inv_mpu6050_write_reg(st, st->reg->fifo_en, d);
+	if (result)
+		goto reset_fifo_fail;
+
+	return 0;
+
+reset_fifo_fail:
+	dev_err(&st->client->dev, "reset fifo failed %d\n", result);
+	result = inv_mpu6050_write_reg(st, st->reg->int_enable,
+					INV_MPU6050_BIT_DATA_RDY_EN);
+
+	return result;
+}
+
+static void inv_clear_kfifo(struct inv_mpu6050_state *st)
+{
+	unsigned long flags;
+
+	/* take the spin lock sem to avoid interrupt kick in */
+	spin_lock_irqsave(&st->time_stamp_lock, flags);
+	kfifo_reset(&st->timestamps);
+	spin_unlock_irqrestore(&st->time_stamp_lock, flags);
+}
+
+/**
+ * inv_mpu6050_irq_handler() - Cache a timestamp at each data ready interrupt.
+ */
+irqreturn_t inv_mpu6050_irq_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	s64 timestamp;
+
+	timestamp = iio_get_time_ns();
+	kfifo_in_spinlocked(&st->timestamps, &timestamp, 1,
+				&st->time_stamp_lock);
+
+	return IRQ_WAKE_THREAD;
+}
+
+/**
+ * inv_mpu6050_read_fifo() - Transfer data from hardware FIFO to KFIFO.
+ */
+irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	size_t bytes_per_datum;
+	int result;
+	u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
+	u16 fifo_count;
+	s64 timestamp;
+	u64 *tmp;
+
+	mutex_lock(&indio_dev->mlock);
+	if (!(st->chip_config.accl_fifo_enable |
+		st->chip_config.gyro_fifo_enable))
+		goto end_session;
+	bytes_per_datum = 0;
+	if (st->chip_config.accl_fifo_enable)
+		bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
+
+	if (st->chip_config.gyro_fifo_enable)
+		bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
+
+	/*
+	 * read fifo_count register to know how many bytes inside FIFO
+	 * right now
+	 */
+	result = i2c_smbus_read_i2c_block_data(st->client,
+				       st->reg->fifo_count_h,
+				       INV_MPU6050_FIFO_COUNT_BYTE, data);
+	if (result != INV_MPU6050_FIFO_COUNT_BYTE)
+		goto end_session;
+	fifo_count = be16_to_cpup((__be16 *)(&data[0]));
+	if (fifo_count < bytes_per_datum)
+		goto end_session;
+	/* fifo count can't be odd number, if it is odd, reset fifo*/
+	if (fifo_count & 1)
+		goto flush_fifo;
+	if (fifo_count >  INV_MPU6050_FIFO_THRESHOLD)
+		goto flush_fifo;
+	/* Timestamp mismatch. */
+	if (kfifo_len(&st->timestamps) >
+		fifo_count / bytes_per_datum + INV_MPU6050_TIME_STAMP_TOR)
+			goto flush_fifo;
+	while (fifo_count >= bytes_per_datum) {
+		result = i2c_smbus_read_i2c_block_data(st->client,
+						       st->reg->fifo_r_w,
+						       bytes_per_datum, data);
+		if (result != bytes_per_datum)
+			goto flush_fifo;
+
+		result = kfifo_out(&st->timestamps, &timestamp, 1);
+		/* when there is no timestamp, put timestamp as 0 */
+		if (0 == result)
+			timestamp = 0;
+
+		tmp = (u64 *)data;
+		tmp[DIV_ROUND_UP(bytes_per_datum, 8)] = timestamp;
+		result = iio_push_to_buffers(indio_dev, data);
+		if (result)
+			goto flush_fifo;
+		fifo_count -= bytes_per_datum;
+	}
+
+end_session:
+	mutex_unlock(&indio_dev->mlock);
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+
+flush_fifo:
+	/* Flush HW and SW FIFOs. */
+	inv_reset_fifo(indio_dev);
+	inv_clear_kfifo(st);
+	mutex_unlock(&indio_dev->mlock);
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
new file mode 100644
index 00000000000..03b9372c121
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -0,0 +1,155 @@
+/*
+* 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 "inv_mpu_iio.h"
+
+static void inv_scan_query(struct iio_dev *indio_dev)
+{
+	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
+
+	st->chip_config.gyro_fifo_enable =
+		test_bit(INV_MPU6050_SCAN_GYRO_X,
+			indio_dev->active_scan_mask) ||
+			test_bit(INV_MPU6050_SCAN_GYRO_Y,
+			indio_dev->active_scan_mask) ||
+			test_bit(INV_MPU6050_SCAN_GYRO_Z,
+			indio_dev->active_scan_mask);
+
+	st->chip_config.accl_fifo_enable =
+		test_bit(INV_MPU6050_SCAN_ACCL_X,
+			indio_dev->active_scan_mask) ||
+			test_bit(INV_MPU6050_SCAN_ACCL_Y,
+			indio_dev->active_scan_mask) ||
+			test_bit(INV_MPU6050_SCAN_ACCL_Z,
+			indio_dev->active_scan_mask);
+}
+
+/**
+ *  inv_mpu6050_set_enable() - enable chip functions.
+ *  @indio_dev:	Device driver instance.
+ *  @enable: enable/disable
+ */
+static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
+{
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	int result;
+
+	if (enable) {
+		result = inv_mpu6050_set_power_itg(st, true);
+		if (result)
+			return result;
+		inv_scan_query(indio_dev);
+		if (st->chip_config.gyro_fifo_enable) {
+			result = inv_mpu6050_switch_engine(st, true,
+					INV_MPU6050_BIT_PWR_GYRO_STBY);
+			if (result)
+				return result;
+		}
+		if (st->chip_config.accl_fifo_enable) {
+			result = inv_mpu6050_switch_engine(st, true,
+					INV_MPU6050_BIT_PWR_ACCL_STBY);
+			if (result)
+				return result;
+		}
+		result = inv_reset_fifo(indio_dev);
+		if (result)
+			return result;
+	} else {
+		result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);
+		if (result)
+			return result;
+
+		result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
+		if (result)
+			return result;
+
+		result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);
+		if (result)
+			return result;
+
+		result = inv_mpu6050_switch_engine(st, false,
+					INV_MPU6050_BIT_PWR_GYRO_STBY);
+		if (result)
+			return result;
+
+		result = inv_mpu6050_switch_engine(st, false,
+					INV_MPU6050_BIT_PWR_ACCL_STBY);
+		if (result)
+			return result;
+		result = inv_mpu6050_set_power_itg(st, false);
+		if (result)
+			return result;
+	}
+	st->chip_config.enable = enable;
+
+	return 0;
+}
+
+/**
+ * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
+ * @trig: Trigger instance
+ * @state: Desired trigger state
+ */
+static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
+						bool state)
+{
+	return inv_mpu6050_set_enable(iio_trigger_get_drvdata(trig), state);
+}
+
+static const struct iio_trigger_ops inv_mpu_trigger_ops = {
+	.owner = THIS_MODULE,
+	.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
+};
+
+int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
+{
+	int ret;
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+	st->trig = iio_trigger_alloc("%s-dev%d",
+					indio_dev->name,
+					indio_dev->id);
+	if (st->trig == NULL) {
+		ret = -ENOMEM;
+		goto error_ret;
+	}
+	ret = request_irq(st->client->irq, &iio_trigger_generic_data_rdy_poll,
+				IRQF_TRIGGER_RISING,
+				"inv_mpu",
+				st->trig);
+	if (ret)
+		goto error_free_trig;
+	st->trig->dev.parent = &st->client->dev;
+	st->trig->ops = &inv_mpu_trigger_ops;
+	iio_trigger_set_drvdata(st->trig, indio_dev);
+	ret = iio_trigger_register(st->trig);
+	if (ret)
+		goto error_free_irq;
+	indio_dev->trig = st->trig;
+
+	return 0;
+
+error_free_irq:
+	free_irq(st->client->irq, st->trig);
+error_free_trig:
+	iio_trigger_free(st->trig);
+error_ret:
+	return ret;
+}
+
+void inv_mpu6050_remove_trigger(struct inv_mpu6050_state *st)
+{
+	iio_trigger_unregister(st->trig);
+	free_irq(st->client->irq, st->trig);
+	iio_trigger_free(st->trig);
+}