Linux-libre 4.6.2-gnu

9 files changed, 640 insertions, 327 deletions

diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 8f8d1370e..847455a2d 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -3,15 +3,30 @@
 #
 
 config INV_MPU6050_IIO
-	tristate "Invensense MPU6050 devices"
-	depends on I2C && SYSFS
-	depends on I2C_MUX
+	tristate
 	select IIO_BUFFER
 	select IIO_TRIGGERED_BUFFER
+
+config INV_MPU6050_I2C
+	tristate "Invensense MPU6050 devices (I2C)"
+	depends on I2C_MUX
+	select INV_MPU6050_IIO
+	select REGMAP_I2C
 	help
 	  This driver supports the Invensense MPU6050 devices.
 	  This driver can also support MPU6500 in MPU6050 compatibility mode
 	  and also in MPU6500 mode with some limitations.
 	  It is a gyroscope/accelerometer combo device.
 	  This driver can be built as a module. The module will be called
-	  inv-mpu6050.
+	  inv-mpu6050-i2c.
+
+config INV_MPU6050_SPI
+	tristate "Invensense MPU6050 devices (SPI)"
+	depends on SPI_MASTER
+	select INV_MPU6050_IIO
+	select REGMAP_SPI
+	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-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index f566f6a7b..734af5e6c 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -3,4 +3,10 @@
 #
 
 obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
-inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o inv_mpu_acpi.o
+inv-mpu6050-objs := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
+
+obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
+inv-mpu6050-i2c-objs := inv_mpu_i2c.o inv_mpu_acpi.o
+
+obj-$(CONFIG_INV_MPU6050_SPI) += inv-mpu6050-spi.o
+inv-mpu6050-spi-objs := inv_mpu_spi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
index 1c982a56a..2771106fd 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
@@ -66,11 +66,11 @@ static int asus_acpi_get_sensor_info(struct acpi_device *adev,
 		union acpi_object *elem;
 		int j;
 
-		elem = &(cpm->package.elements[i]);
+		elem = &cpm->package.elements[i];
 		for (j = 0; j < elem->package.count; ++j) {
 			union acpi_object *sub_elem;
 
-			sub_elem = &(elem->package.elements[j]);
+			sub_elem = &elem->package.elements[j];
 			if (sub_elem->type == ACPI_TYPE_STRING)
 				strlcpy(info->type, sub_elem->string.pointer,
 					sizeof(info->type));
@@ -139,22 +139,23 @@ static int inv_mpu_process_acpi_config(struct i2c_client *client,
 	return 0;
 }
 
-int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client)
 {
+	struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(&client->dev));
 
 	st->mux_client = NULL;
-	if (ACPI_HANDLE(&st->client->dev)) {
+	if (ACPI_HANDLE(&client->dev)) {
 		struct i2c_board_info info;
 		struct acpi_device *adev;
 		int ret = -1;
 
-		adev = ACPI_COMPANION(&st->client->dev);
+		adev = ACPI_COMPANION(&client->dev);
 		memset(&info, 0, sizeof(info));
 
 		dmi_check_system(inv_mpu_dev_list);
 		switch (matched_product_name) {
 		case INV_MPU_ASUS_T100TA:
-			ret = asus_acpi_get_sensor_info(adev, st->client,
+			ret = asus_acpi_get_sensor_info(adev, client,
 							&info);
 			break;
 		/* Add more matched product processing here */
@@ -166,7 +167,7 @@ int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
 			/* No matching DMI, so create device on INV6XX type */
 			unsigned short primary, secondary;
 
-			ret = inv_mpu_process_acpi_config(st->client, &primary,
+			ret = inv_mpu_process_acpi_config(client, &primary,
 							  &secondary);
 			if (!ret && secondary) {
 				char *name;
@@ -185,14 +186,15 @@ int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
 		st->mux_client = i2c_new_device(st->mux_adapter, &info);
 		if (!st->mux_client)
 			return -ENODEV;
-
 	}
 
 	return 0;
 }
 
-void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st)
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client)
 {
+	struct inv_mpu6050_state *st = iio_priv(dev_get_drvdata(&client->dev));
+
 	if (st->mux_client)
 		i2c_unregister_device(st->mux_client);
 }
@@ -200,12 +202,12 @@ void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st)
 
 #include "inv_mpu_iio.h"
 
-int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st)
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client)
 {
 	return 0;
 }
 
-void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st)
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client)
 {
 }
 #endif
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index f0e06093b..d192953e9 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -39,6 +39,26 @@ static const int gyro_scale_6050[] = {133090, 266181, 532362, 1064724};
  */
 static const int accel_scale[] = {598, 1196, 2392, 4785};
 
+static const struct inv_mpu6050_reg_map reg_set_6500 = {
+	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
+	.lpf                    = INV_MPU6050_REG_CONFIG,
+	.user_ctrl              = INV_MPU6050_REG_USER_CTRL,
+	.fifo_en                = INV_MPU6050_REG_FIFO_EN,
+	.gyro_config            = INV_MPU6050_REG_GYRO_CONFIG,
+	.accl_config            = INV_MPU6050_REG_ACCEL_CONFIG,
+	.fifo_count_h           = INV_MPU6050_REG_FIFO_COUNT_H,
+	.fifo_r_w               = INV_MPU6050_REG_FIFO_R_W,
+	.raw_gyro               = INV_MPU6050_REG_RAW_GYRO,
+	.raw_accl               = INV_MPU6050_REG_RAW_ACCEL,
+	.temperature            = INV_MPU6050_REG_TEMPERATURE,
+	.int_enable             = INV_MPU6050_REG_INT_ENABLE,
+	.pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
+	.pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
+	.int_pin_cfg		= INV_MPU6050_REG_INT_PIN_CFG,
+	.accl_offset		= INV_MPU6500_REG_ACCEL_OFFSET,
+	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
+};
+
 static const struct inv_mpu6050_reg_map reg_set_6050 = {
 	.sample_rate_div	= INV_MPU6050_REG_SAMPLE_RATE_DIV,
 	.lpf                    = INV_MPU6050_REG_CONFIG,
@@ -55,6 +75,8 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
 	.pwr_mgmt_1             = INV_MPU6050_REG_PWR_MGMT_1,
 	.pwr_mgmt_2             = INV_MPU6050_REG_PWR_MGMT_2,
 	.int_pin_cfg		= INV_MPU6050_REG_INT_PIN_CFG,
+	.accl_offset		= INV_MPU6050_REG_ACCEL_OFFSET,
+	.gyro_offset		= INV_MPU6050_REG_GYRO_OFFSET,
 };
 
 static const struct inv_mpu6050_chip_config chip_config_6050 = {
@@ -66,7 +88,13 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
 	.accl_fs = INV_MPU6050_FS_02G,
 };
 
-static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
+static const struct inv_mpu6050_hw hw_info[] = {
+	{
+		.num_reg = 117,
+		.name = "MPU6500",
+		.reg = &reg_set_6500,
+		.config = &chip_config_6050,
+	},
 	{
 		.num_reg = 117,
 		.name = "MPU6050",
@@ -75,134 +103,53 @@ static const struct inv_mpu6050_hw hw_info[INV_NUM_PARTS] = {
 	},
 };
 
-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);
-}
-
-/*
- * The i2c read/write needs to happen in unlocked mode. As the parent
- * adapter is common. If we use locked versions, it will fail as
- * the mux adapter will lock the parent i2c adapter, while calling
- * select/deselect functions.
- */
-static int inv_mpu6050_write_reg_unlocked(struct inv_mpu6050_state *st,
-					  u8 reg, u8 d)
-{
-	int ret;
-	u8 buf[2];
-	struct i2c_msg msg[1] = {
-		{
-			.addr = st->client->addr,
-			.flags = 0,
-			.len = sizeof(buf),
-			.buf = buf,
-		}
-	};
-
-	buf[0] = reg;
-	buf[1] = d;
-	ret = __i2c_transfer(st->client->adapter, msg, 1);
-	if (ret != 1)
-		return ret;
-
-	return 0;
-}
-
-static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
-				     u32 chan_id)
-{
-	struct iio_dev *indio_dev = mux_priv;
-	struct inv_mpu6050_state *st = iio_priv(indio_dev);
-	int ret = 0;
-
-	/* Use the same mutex which was used everywhere to protect power-op */
-	mutex_lock(&indio_dev->mlock);
-	if (!st->powerup_count) {
-		ret = inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
-						     0);
-		if (ret)
-			goto write_error;
-
-		msleep(INV_MPU6050_REG_UP_TIME);
-	}
-	if (!ret) {
-		st->powerup_count++;
-		ret = inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
-						     st->client->irq |
-						     INV_MPU6050_BIT_BYPASS_EN);
-	}
-write_error:
-	mutex_unlock(&indio_dev->mlock);
-
-	return ret;
-}
-
-static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
-				       void *mux_priv, u32 chan_id)
-{
-	struct iio_dev *indio_dev = mux_priv;
-	struct inv_mpu6050_state *st = iio_priv(indio_dev);
-
-	mutex_lock(&indio_dev->mlock);
-	/* It doesn't really mattter, if any of the calls fails */
-	inv_mpu6050_write_reg_unlocked(st, st->reg->int_pin_cfg,
-				       st->client->irq);
-	st->powerup_count--;
-	if (!st->powerup_count)
-		inv_mpu6050_write_reg_unlocked(st, st->reg->pwr_mgmt_1,
-					       INV_MPU6050_BIT_SLEEP);
-	mutex_unlock(&indio_dev->mlock);
-
-	return 0;
-}
-
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en, u32 mask)
 {
-	u8 d, mgmt_1;
+	unsigned int 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)
+	/*
+	 * 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 (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
+		result = regmap_read(st->map, st->reg->pwr_mgmt_1, &mgmt_1);
+		if (result)
 			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 */
+	if ((mask == INV_MPU6050_BIT_PWR_GYRO_STBY) && (!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);
+		result = regmap_write(st->map, 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)
+	result = regmap_read(st->map, st->reg->pwr_mgmt_2, &d);
+	if (result)
 		return result;
 	if (en)
 		d &= ~mask;
 	else
 		d |= mask;
-	result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_2, d);
+	result = regmap_write(st->map, st->reg->pwr_mgmt_2, d);
 	if (result)
 		return result;
 
 	if (en) {
 		/* Wait for output stabilize */
 		msleep(INV_MPU6050_TEMP_UP_TIME);
-		if (INV_MPU6050_BIT_PWR_GYRO_STBY == mask) {
+		if (mask == INV_MPU6050_BIT_PWR_GYRO_STBY) {
 			/* switch internal clock to PLL */
 			mgmt_1 |= INV_CLK_PLL;
-			result = inv_mpu6050_write_reg(st,
-					st->reg->pwr_mgmt_1, mgmt_1);
+			result = regmap_write(st->map,
+					      st->reg->pwr_mgmt_1, mgmt_1);
 			if (result)
 				return result;
 		}
@@ -218,25 +165,26 @@ int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on)
 	if (power_on) {
 		/* Already under indio-dev->mlock mutex */
 		if (!st->powerup_count)
-			result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
-						       0);
+			result = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
 		if (!result)
 			st->powerup_count++;
 	} else {
 		st->powerup_count--;
 		if (!st->powerup_count)
-			result = inv_mpu6050_write_reg(st, st->reg->pwr_mgmt_1,
-						       INV_MPU6050_BIT_SLEEP);
+			result = regmap_write(st->map, st->reg->pwr_mgmt_1,
+					      INV_MPU6050_BIT_SLEEP);
 	}
 
 	if (result)
 		return result;
 
 	if (power_on)
-		msleep(INV_MPU6050_REG_UP_TIME);
+		usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
+			     INV_MPU6050_REG_UP_TIME_MAX);
 
 	return 0;
 }
+EXPORT_SYMBOL_GPL(inv_mpu6050_set_power_itg);
 
 /**
  *  inv_mpu6050_init_config() - Initialize hardware, disable FIFO.
@@ -257,59 +205,73 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	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);
+	result = regmap_write(st->map, st->reg->gyro_config, d);
 	if (result)
 		return result;
 
 	d = INV_MPU6050_FILTER_20HZ;
-	result = inv_mpu6050_write_reg(st, st->reg->lpf, d);
+	result = regmap_write(st->map, 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);
+	result = regmap_write(st->map, 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);
+	result = regmap_write(st->map, 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));
+	       sizeof(struct inv_mpu6050_chip_config));
 	result = inv_mpu6050_set_power_itg(st, false);
 
 	return result;
 }
 
+static int inv_mpu6050_sensor_set(struct inv_mpu6050_state  *st, int reg,
+				int axis, int val)
+{
+	int ind, result;
+	__be16 d = cpu_to_be16(val);
+
+	ind = (axis - IIO_MOD_X) * 2;
+	result = regmap_bulk_write(st->map, reg + ind, (u8 *)&d, 2);
+	if (result)
+		return -EINVAL;
+
+	return 0;
+}
+
 static int inv_mpu6050_sensor_show(struct inv_mpu6050_state  *st, int reg,
-				int axis, int *val)
+				   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)
+	result = regmap_bulk_read(st->map, reg + ind, (u8 *)&d, 2);
+	if (result)
 		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) {
+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);
+	int ret = 0;
 
 	switch (mask) {
 	case IIO_CHAN_INFO_RAW:
 	{
-		int ret, result;
+		int result;
 
 		ret = IIO_VAL_INT;
 		result = 0;
@@ -323,16 +285,16 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 		switch (chan->type) {
 		case IIO_ANGL_VEL:
 			if (!st->chip_config.gyro_fifo_enable ||
-					!st->chip_config.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);
+			ret = inv_mpu6050_sensor_show(st, st->reg->raw_gyro,
+						      chan->channel2, val);
 			if (!st->chip_config.gyro_fifo_enable ||
-					!st->chip_config.enable) {
+			    !st->chip_config.enable) {
 				result = inv_mpu6050_switch_engine(st, false,
 						INV_MPU6050_BIT_PWR_GYRO_STBY);
 				if (result)
@@ -341,16 +303,16 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 			break;
 		case IIO_ACCEL:
 			if (!st->chip_config.accl_fifo_enable ||
-					!st->chip_config.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);
+						      chan->channel2, val);
 			if (!st->chip_config.accl_fifo_enable ||
-					!st->chip_config.enable) {
+			    !st->chip_config.enable) {
 				result = inv_mpu6050_switch_engine(st, false,
 						INV_MPU6050_BIT_PWR_ACCL_STBY);
 				if (result)
@@ -360,8 +322,8 @@ static int inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 		case IIO_TEMP:
 			/* wait for stablization */
 			msleep(INV_MPU6050_SENSOR_UP_TIME);
-			inv_mpu6050_sensor_show(st, st->reg->temperature,
-							IIO_MOD_X, val);
+			ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
+						IIO_MOD_X, val);
 			break;
 		default:
 			ret = -EINVAL;
@@ -405,6 +367,20 @@ error_read_raw:
 		default:
 			return -EINVAL;
 		}
+	case IIO_CHAN_INFO_CALIBBIAS:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			ret = inv_mpu6050_sensor_show(st, st->reg->gyro_offset,
+						chan->channel2, val);
+			return IIO_VAL_INT;
+		case IIO_ACCEL:
+			ret = inv_mpu6050_sensor_show(st, st->reg->accl_offset,
+						chan->channel2, val);
+			return IIO_VAL_INT;
+
+		default:
+			return -EINVAL;
+		}
 	default:
 		return -EINVAL;
 	}
@@ -418,8 +394,7 @@ static int inv_mpu6050_write_gyro_scale(struct inv_mpu6050_state *st, int val)
 	for (i = 0; i < ARRAY_SIZE(gyro_scale_6050); ++i) {
 		if (gyro_scale_6050[i] == val) {
 			d = (i << INV_MPU6050_GYRO_CONFIG_FSR_SHIFT);
-			result = inv_mpu6050_write_reg(st,
-					st->reg->gyro_config, d);
+			result = regmap_write(st->map, st->reg->gyro_config, d);
 			if (result)
 				return result;
 
@@ -448,6 +423,7 @@ static int inv_write_raw_get_fmt(struct iio_dev *indio_dev,
 
 	return -EINVAL;
 }
+
 static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 {
 	int result, i;
@@ -456,8 +432,7 @@ static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 	for (i = 0; i < ARRAY_SIZE(accel_scale); ++i) {
 		if (accel_scale[i] == val) {
 			d = (i << INV_MPU6050_ACCL_CONFIG_FSR_SHIFT);
-			result = inv_mpu6050_write_reg(st,
-					st->reg->accl_config, d);
+			result = regmap_write(st->map, st->reg->accl_config, d);
 			if (result)
 				return result;
 
@@ -470,16 +445,17 @@ static int inv_mpu6050_write_accel_scale(struct inv_mpu6050_state *st, int val)
 }
 
 static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
-			       struct iio_chan_spec const *chan,
-			       int val,
-			       int val2,
-			       long mask) {
+				 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 */
+	/*
+	 * 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;
@@ -502,6 +478,21 @@ static int inv_mpu6050_write_raw(struct iio_dev *indio_dev,
 			break;
 		}
 		break;
+	case IIO_CHAN_INFO_CALIBBIAS:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			result = inv_mpu6050_sensor_set(st,
+							st->reg->gyro_offset,
+							chan->channel2, val);
+			break;
+		case IIO_ACCEL:
+			result = inv_mpu6050_sensor_set(st,
+							st->reg->accl_offset,
+							chan->channel2, val);
+			break;
+		default:
+			result = -EINVAL;
+		}
 	default:
 		result = -EINVAL;
 		break;
@@ -537,7 +528,7 @@ static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 	while ((h < hz[i]) && (i < ARRAY_SIZE(d) - 1))
 		i++;
 	data = d[i];
-	result = inv_mpu6050_write_reg(st, st->reg->lpf, data);
+	result = regmap_write(st->map, st->reg->lpf, data);
 	if (result)
 		return result;
 	st->chip_config.lpf = data;
@@ -548,8 +539,9 @@ static int inv_mpu6050_set_lpf(struct inv_mpu6050_state *st, int rate)
 /**
  * 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)
+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;
@@ -560,7 +552,7 @@ static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
 	if (kstrtoint(buf, 10, &fifo_rate))
 		return -EINVAL;
 	if (fifo_rate < INV_MPU6050_MIN_FIFO_RATE ||
-				fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
+	    fifo_rate > INV_MPU6050_MAX_FIFO_RATE)
 		return -EINVAL;
 	if (fifo_rate == st->chip_config.fifo_rate)
 		return count;
@@ -575,7 +567,7 @@ static ssize_t inv_mpu6050_fifo_rate_store(struct device *dev,
 		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);
+	result = regmap_write(st->map, st->reg->sample_rate_div, d);
 	if (result)
 		goto fifo_rate_fail;
 	st->chip_config.fifo_rate = fifo_rate;
@@ -596,8 +588,9 @@ fifo_rate_fail:
 /**
  * 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)
+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));
 
@@ -608,16 +601,18 @@ static ssize_t inv_fifo_rate_show(struct device *dev,
  * 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)
+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 */
+	/*
+	 * 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;
@@ -654,14 +649,15 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 		.type = _type,                                        \
 		.modified = 1,                                        \
 		.channel2 = _channel2,                                \
-		.info_mask_shared_by_type =  BIT(IIO_CHAN_INFO_SCALE), \
-		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),         \
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |	      \
+				      BIT(IIO_CHAN_INFO_CALIBBIAS),   \
 		.scan_index = _index,                                 \
 		.scan_type = {                                        \
 				.sign = 's',                          \
 				.realbits = 16,                       \
 				.storagebits = 16,                    \
-				.shift = 0 ,                          \
+				.shift = 0,                           \
 				.endianness = IIO_BE,                 \
 			     },                                       \
 	}
@@ -674,7 +670,7 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
 	 */
 	{
 		.type = IIO_TEMP,
-		.info_mask_separate =  BIT(IIO_CHAN_INFO_RAW)
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
 				| BIT(IIO_CHAN_INFO_OFFSET)
 				| BIT(IIO_CHAN_INFO_SCALE),
 		.scan_index = -1,
@@ -727,25 +723,25 @@ static const struct iio_info mpu_info = {
 /**
  *  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)
+static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 {
 	int result;
 
-	st->chip_type = INV_MPU6050;
 	st->hw  = &hw_info[st->chip_type];
 	st->reg = hw_info[st->chip_type].reg;
 
 	/* 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);
+	result = regmap_write(st->map, 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 */
+	/*
+	 * 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;
@@ -754,65 +750,59 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st,
 		return result;
 
 	result = inv_mpu6050_switch_engine(st, false,
-					INV_MPU6050_BIT_PWR_ACCL_STBY);
+					   INV_MPU6050_BIT_PWR_ACCL_STBY);
 	if (result)
 		return result;
 	result = inv_mpu6050_switch_engine(st, false,
-					INV_MPU6050_BIT_PWR_GYRO_STBY);
+					   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)
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
+		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type)
 {
 	struct inv_mpu6050_state *st;
 	struct iio_dev *indio_dev;
 	struct inv_mpu6050_platform_data *pdata;
+	struct device *dev = regmap_get_device(regmap);
 	int result;
 
-	if (!i2c_check_functionality(client->adapter,
-		I2C_FUNC_SMBUS_I2C_BLOCK))
-		return -ENOSYS;
-
-	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*st));
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
 	if (!indio_dev)
 		return -ENOMEM;
 
 	st = iio_priv(indio_dev);
-	st->client = client;
+	st->chip_type = chip_type;
 	st->powerup_count = 0;
-	pdata = dev_get_platdata(&client->dev);
+	st->irq = irq;
+	st->map = regmap;
+	pdata = dev_get_platdata(dev);
 	if (pdata)
 		st->plat_data = *pdata;
 	/* power is turned on inside check chip type*/
-	result = inv_check_and_setup_chip(st, id);
+	result = inv_check_and_setup_chip(st);
 	if (result)
 		return result;
 
+	if (inv_mpu_bus_setup)
+		inv_mpu_bus_setup(indio_dev);
+
 	result = inv_mpu6050_init_config(indio_dev);
 	if (result) {
-		dev_err(&client->dev,
-			"Could not initialize device.\n");
+		dev_err(dev, "Could not initialize device.\n");
 		return result;
 	}
 
-	i2c_set_clientdata(client, indio_dev);
-	indio_dev->dev.parent = &client->dev;
-	/* id will be NULL when enumerated via ACPI */
-	if (id)
-		indio_dev->name = (char *)id->name;
+	dev_set_drvdata(dev, indio_dev);
+	indio_dev->dev.parent = dev;
+	/* name will be NULL when enumerated via ACPI */
+	if (name)
+		indio_dev->name = name;
 	else
-		indio_dev->name = (char *)dev_name(&client->dev);
+		indio_dev->name = dev_name(dev);
 	indio_dev->channels = inv_mpu_channels;
 	indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 
@@ -824,13 +814,12 @@ static int inv_mpu_probe(struct i2c_client *client,
 					    inv_mpu6050_read_fifo,
 					    NULL);
 	if (result) {
-		dev_err(&st->client->dev, "configure buffer fail %d\n",
-				result);
+		dev_err(dev, "configure buffer fail %d\n", result);
 		return result;
 	}
 	result = inv_mpu6050_probe_trigger(indio_dev);
 	if (result) {
-		dev_err(&st->client->dev, "trigger probe fail %d\n", result);
+		dev_err(dev, "trigger probe fail %d\n", result);
 		goto out_unreg_ring;
 	}
 
@@ -838,102 +827,47 @@ static int inv_mpu_probe(struct i2c_client *client,
 	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);
+		dev_err(dev, "IIO register fail %d\n", result);
 		goto out_remove_trigger;
 	}
 
-	st->mux_adapter = i2c_add_mux_adapter(client->adapter,
-					      &client->dev,
-					      indio_dev,
-					      0, 0, 0,
-					      inv_mpu6050_select_bypass,
-					      inv_mpu6050_deselect_bypass);
-	if (!st->mux_adapter) {
-		result = -ENODEV;
-		goto out_unreg_device;
-	}
-
-	result = inv_mpu_acpi_create_mux_client(st);
-	if (result)
-		goto out_del_mux;
-
 	return 0;
 
-out_del_mux:
-	i2c_del_mux_adapter(st->mux_adapter);
-out_unreg_device:
-	iio_device_unregister(indio_dev);
 out_remove_trigger:
 	inv_mpu6050_remove_trigger(st);
 out_unreg_ring:
 	iio_triggered_buffer_cleanup(indio_dev);
 	return result;
 }
+EXPORT_SYMBOL_GPL(inv_mpu_core_probe);
 
-static int inv_mpu_remove(struct i2c_client *client)
+int inv_mpu_core_remove(struct device  *dev)
 {
-	struct iio_dev *indio_dev = i2c_get_clientdata(client);
-	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
 
-	inv_mpu_acpi_delete_mux_client(st);
-	i2c_del_mux_adapter(st->mux_adapter);
 	iio_device_unregister(indio_dev);
-	inv_mpu6050_remove_trigger(st);
+	inv_mpu6050_remove_trigger(iio_priv(indio_dev));
 	iio_triggered_buffer_cleanup(indio_dev);
 
 	return 0;
 }
+EXPORT_SYMBOL_GPL(inv_mpu_core_remove);
+
 #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);
+	return inv_mpu6050_set_power_itg(iio_priv(dev_get_drvdata(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);
+	return inv_mpu6050_set_power_itg(iio_priv(dev_get_drvdata(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},
-	{"mpu6500", INV_MPU6500},
-	{}
-};
-
-MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
-
-static const struct acpi_device_id inv_acpi_match[] = {
-	{"INVN6500", 0},
-	{ },
-};
-
-MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
-
-static struct i2c_driver inv_mpu_driver = {
-	.probe		=	inv_mpu_probe,
-	.remove		=	inv_mpu_remove,
-	.id_table	=	inv_mpu_id,
-	.driver = {
-		.name	=	"inv-mpu6050",
-		.pm     =       INV_MPU6050_PMOPS,
-		.acpi_match_table = ACPI_PTR(inv_acpi_match),
-	},
-};
-
-module_i2c_driver(inv_mpu_driver);
+SIMPLE_DEV_PM_OPS(inv_mpu_pmops, inv_mpu_suspend, inv_mpu_resume);
+EXPORT_SYMBOL_GPL(inv_mpu_pmops);
 
 MODULE_AUTHOR("Invensense Corporation");
 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
new file mode 100644
index 000000000..5ee4e0dc0
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -0,0 +1,232 @@
+/*
+* 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/acpi.h>
+#include <linux/delay.h>
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/i2c-mux.h>
+#include <linux/iio/iio.h>
+#include <linux/module.h>
+#include "inv_mpu_iio.h"
+
+static const struct regmap_config inv_mpu_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
+/*
+ * The i2c read/write needs to happen in unlocked mode. As the parent
+ * adapter is common. If we use locked versions, it will fail as
+ * the mux adapter will lock the parent i2c adapter, while calling
+ * select/deselect functions.
+ */
+static int inv_mpu6050_write_reg_unlocked(struct i2c_client *client,
+					  u8 reg, u8 d)
+{
+	int ret;
+	u8 buf[2] = {reg, d};
+	struct i2c_msg msg[1] = {
+		{
+			.addr = client->addr,
+			.flags = 0,
+			.len = sizeof(buf),
+			.buf = buf,
+		}
+	};
+
+	ret = __i2c_transfer(client->adapter, msg, 1);
+	if (ret != 1)
+		return ret;
+
+	return 0;
+}
+
+static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
+				     u32 chan_id)
+{
+	struct i2c_client *client = mux_priv;
+	struct iio_dev *indio_dev = dev_get_drvdata(&client->dev);
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	int ret = 0;
+
+	/* Use the same mutex which was used everywhere to protect power-op */
+	mutex_lock(&indio_dev->mlock);
+	if (!st->powerup_count) {
+		ret = inv_mpu6050_write_reg_unlocked(client,
+						     st->reg->pwr_mgmt_1, 0);
+		if (ret)
+			goto write_error;
+
+		usleep_range(INV_MPU6050_REG_UP_TIME_MIN,
+			     INV_MPU6050_REG_UP_TIME_MAX);
+	}
+	if (!ret) {
+		st->powerup_count++;
+		ret = inv_mpu6050_write_reg_unlocked(client,
+						     st->reg->int_pin_cfg,
+						     INV_MPU6050_INT_PIN_CFG |
+						     INV_MPU6050_BIT_BYPASS_EN);
+	}
+write_error:
+	mutex_unlock(&indio_dev->mlock);
+
+	return ret;
+}
+
+static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
+				       void *mux_priv, u32 chan_id)
+{
+	struct i2c_client *client = mux_priv;
+	struct iio_dev *indio_dev = dev_get_drvdata(&client->dev);
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+
+	mutex_lock(&indio_dev->mlock);
+	/* It doesn't really mattter, if any of the calls fails */
+	inv_mpu6050_write_reg_unlocked(client, st->reg->int_pin_cfg,
+				       INV_MPU6050_INT_PIN_CFG);
+	st->powerup_count--;
+	if (!st->powerup_count)
+		inv_mpu6050_write_reg_unlocked(client, st->reg->pwr_mgmt_1,
+					       INV_MPU6050_BIT_SLEEP);
+	mutex_unlock(&indio_dev->mlock);
+
+	return 0;
+}
+
+static const char *inv_mpu_match_acpi_device(struct device *dev, int *chip_id)
+{
+	const struct acpi_device_id *id;
+
+	id = acpi_match_device(dev->driver->acpi_match_table, dev);
+	if (!id)
+		return NULL;
+
+	*chip_id = (int)id->driver_data;
+
+	return dev_name(dev);
+}
+
+/**
+ *  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;
+	int result, chip_type;
+	struct regmap *regmap;
+	const char *name;
+
+	if (!i2c_check_functionality(client->adapter,
+				     I2C_FUNC_SMBUS_I2C_BLOCK))
+		return -EOPNOTSUPP;
+
+	if (id) {
+		chip_type = (int)id->driver_data;
+		name = id->name;
+	} else if (ACPI_HANDLE(&client->dev)) {
+		name = inv_mpu_match_acpi_device(&client->dev, &chip_type);
+		if (!name)
+			return -ENODEV;
+	} else {
+		return -ENOSYS;
+	}
+
+	regmap = devm_regmap_init_i2c(client, &inv_mpu_regmap_config);
+	if (IS_ERR(regmap)) {
+		dev_err(&client->dev, "Failed to register i2c regmap %d\n",
+			(int)PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	result = inv_mpu_core_probe(regmap, client->irq, name,
+				    NULL, chip_type);
+	if (result < 0)
+		return result;
+
+	st = iio_priv(dev_get_drvdata(&client->dev));
+	st->mux_adapter = i2c_add_mux_adapter(client->adapter,
+					      &client->dev,
+					      client,
+					      0, 0, 0,
+					      inv_mpu6050_select_bypass,
+					      inv_mpu6050_deselect_bypass);
+	if (!st->mux_adapter) {
+		result = -ENODEV;
+		goto out_unreg_device;
+	}
+
+	result = inv_mpu_acpi_create_mux_client(client);
+	if (result)
+		goto out_del_mux;
+
+	return 0;
+
+out_del_mux:
+	i2c_del_mux_adapter(st->mux_adapter);
+out_unreg_device:
+	inv_mpu_core_remove(&client->dev);
+	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);
+
+	inv_mpu_acpi_delete_mux_client(client);
+	i2c_del_mux_adapter(st->mux_adapter);
+
+	return inv_mpu_core_remove(&client->dev);
+}
+
+/*
+ * 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},
+	{"mpu6500", INV_MPU6500},
+	{}
+};
+
+MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
+
+static const struct acpi_device_id inv_acpi_match[] = {
+	{"INVN6500", 0},
+	{ },
+};
+
+MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
+
+static struct i2c_driver inv_mpu_driver = {
+	.probe		=	inv_mpu_probe,
+	.remove		=	inv_mpu_remove,
+	.id_table	=	inv_mpu_id,
+	.driver = {
+		.acpi_match_table = ACPI_PTR(inv_acpi_match),
+		.name	=	"inv-mpu6050-i2c",
+		.pm     =       &inv_mpu_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
index db0a4a275..e302a4970 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -15,6 +15,7 @@
 #include <linux/spinlock.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/buffer.h>
+#include <linux/regmap.h>
 #include <linux/iio/sysfs.h>
 #include <linux/iio/kfifo_buf.h>
 #include <linux/iio/trigger.h>
@@ -38,6 +39,9 @@
  *  @int_enable:	Interrupt enable register.
  *  @pwr_mgmt_1:	Controls chip's power state and clock source.
  *  @pwr_mgmt_2:	Controls power state of individual sensors.
+ *  @int_pin_cfg;	Controls interrupt pin configuration.
+ *  @accl_offset:	Controls the accelerometer calibration offset.
+ *  @gyro_offset:	Controls the gyroscope calibration offset.
  */
 struct inv_mpu6050_reg_map {
 	u8 sample_rate_div;
@@ -55,12 +59,15 @@ struct inv_mpu6050_reg_map {
 	u8 pwr_mgmt_1;
 	u8 pwr_mgmt_2;
 	u8 int_pin_cfg;
+	u8 accl_offset;
+	u8 gyro_offset;
 };
 
 /*device enum */
 enum inv_devices {
 	INV_MPU6050,
 	INV_MPU6500,
+	INV_MPU6000,
 	INV_NUM_PARTS
 };
 
@@ -107,9 +114,10 @@ struct inv_mpu6050_hw {
  *  @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.
+ *  @map		regmap pointer.
+ *  @irq		interrupt number.
  */
 struct inv_mpu6050_state {
 #define TIMESTAMP_FIFO_SIZE 16
@@ -119,15 +127,19 @@ struct inv_mpu6050_state {
 	const struct inv_mpu6050_hw *hw;
 	enum   inv_devices chip_type;
 	spinlock_t time_stamp_lock;
-	struct i2c_client *client;
 	struct i2c_adapter *mux_adapter;
 	struct i2c_client *mux_client;
 	unsigned int powerup_count;
 	struct inv_mpu6050_platform_data plat_data;
 	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
+	struct regmap *map;
+	int irq;
 };
 
 /*register and associated bit definition*/
+#define INV_MPU6050_REG_ACCEL_OFFSET        0x06
+#define INV_MPU6050_REG_GYRO_OFFSET         0x13
+
 #define INV_MPU6050_REG_SAMPLE_RATE_DIV     0x19
 #define INV_MPU6050_REG_CONFIG              0x1A
 #define INV_MPU6050_REG_GYRO_CONFIG         0x1B
@@ -151,6 +163,7 @@ struct inv_mpu6050_state {
 #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_BIT_I2C_IF_DIS          0x10
 
 #define INV_MPU6050_REG_PWR_MGMT_1          0x6B
 #define INV_MPU6050_BIT_H_RESET             0x80
@@ -167,10 +180,18 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
 #define INV_MPU6050_FIFO_COUNT_BYTE          2
 #define INV_MPU6050_FIFO_THRESHOLD           500
+
+/* mpu6500 registers */
+#define INV_MPU6500_REG_ACCEL_OFFSET        0x77
+
+/* delay time in milliseconds */
 #define INV_MPU6050_POWER_UP_TIME            100
 #define INV_MPU6050_TEMP_UP_TIME             100
 #define INV_MPU6050_SENSOR_UP_TIME           30
-#define INV_MPU6050_REG_UP_TIME              5
+
+/* delay time in microseconds */
+#define INV_MPU6050_REG_UP_TIME_MIN          5000
+#define INV_MPU6050_REG_UP_TIME_MAX          10000
 
 #define INV_MPU6050_TEMP_OFFSET	             12421
 #define INV_MPU6050_TEMP_SCALE               2941
@@ -185,6 +206,7 @@ struct inv_mpu6050_state {
 
 #define INV_MPU6050_REG_INT_PIN_CFG	0x37
 #define INV_MPU6050_BIT_BYPASS_EN	0x2
+#define INV_MPU6050_INT_PIN_CFG		0
 
 /* init parameters */
 #define INV_MPU6050_INIT_FIFO_RATE           50
@@ -252,5 +274,10 @@ 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);
-int inv_mpu_acpi_create_mux_client(struct inv_mpu6050_state *st);
-void inv_mpu_acpi_delete_mux_client(struct inv_mpu6050_state *st);
+int inv_mpu_acpi_create_mux_client(struct i2c_client *client);
+void inv_mpu_acpi_delete_mux_client(struct i2c_client *client);
+int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
+		int (*inv_mpu_bus_setup)(struct iio_dev *), int chip_type);
+int inv_mpu_core_remove(struct device *dev);
+int inv_mpu6050_set_power_itg(struct inv_mpu6050_state *st, bool power_on);
+extern const struct dev_pm_ops inv_mpu_pmops;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index ba27e2775..d0700628e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -13,7 +13,6 @@
 
 #include <linux/module.h>
 #include <linux/slab.h>
-#include <linux/i2c.h>
 #include <linux/err.h>
 #include <linux/delay.h>
 #include <linux/sysfs.h>
@@ -41,23 +40,24 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
 
 	/* disable interrupt */
-	result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
+	result = regmap_write(st->map, st->reg->int_enable, 0);
 	if (result) {
-		dev_err(&st->client->dev, "int_enable failed %d\n", result);
+		dev_err(regmap_get_device(st->map), "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);
+	result = regmap_write(st->map, 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);
+	result = regmap_write(st->map, 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);
+	result = regmap_write(st->map, st->reg->user_ctrl,
+			      INV_MPU6050_BIT_FIFO_RST);
 	if (result)
 		goto reset_fifo_fail;
 
@@ -67,14 +67,14 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 	/* 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);
+		result = regmap_write(st->map, 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);
+	result = regmap_write(st->map, st->reg->user_ctrl,
+			      INV_MPU6050_BIT_FIFO_EN);
 	if (result)
 		goto reset_fifo_fail;
 	/* enable sensor output to FIFO */
@@ -83,16 +83,16 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 		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);
+	result = regmap_write(st->map, 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);
+	dev_err(regmap_get_device(st->map), "reset fifo failed %d\n", result);
+	result = regmap_write(st->map, st->reg->int_enable,
+			      INV_MPU6050_BIT_DATA_RDY_EN);
 
 	return result;
 }
@@ -109,7 +109,7 @@ irqreturn_t inv_mpu6050_irq_handler(int irq, void *p)
 
 	timestamp = iio_get_time_ns();
 	kfifo_in_spinlocked(&st->timestamps, &timestamp, 1,
-				&st->time_stamp_lock);
+			    &st->time_stamp_lock);
 
 	return IRQ_WAKE_THREAD;
 }
@@ -143,10 +143,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 	 * 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)
+	result = regmap_bulk_read(st->map, st->reg->fifo_count_h, data,
+				  INV_MPU6050_FIFO_COUNT_BYTE);
+	if (result)
 		goto end_session;
 	fifo_count = be16_to_cpup((__be16 *)(&data[0]));
 	if (fifo_count < bytes_per_datum)
@@ -158,22 +157,21 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 		goto flush_fifo;
 	/* Timestamp mismatch. */
 	if (kfifo_len(&st->timestamps) >
-		fifo_count / bytes_per_datum + INV_MPU6050_TIME_STAMP_TOR)
-			goto flush_fifo;
+	    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)
+		result = regmap_bulk_read(st->map, st->reg->fifo_r_w,
+					  data, bytes_per_datum);
+		if (result)
 			goto flush_fifo;
 
 		result = kfifo_out(&st->timestamps, &timestamp, 1);
 		/* when there is no timestamp, put timestamp as 0 */
-		if (0 == result)
+		if (result == 0)
 			timestamp = 0;
 
 		result = iio_push_to_buffers_with_timestamp(indio_dev, data,
-			timestamp);
+							    timestamp);
 		if (result)
 			goto flush_fifo;
 		fifo_count -= bytes_per_datum;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
new file mode 100644
index 000000000..7bcb8d839
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -0,0 +1,99 @@
+/*
+* Copyright (C) 2015 Intel Corporation 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/acpi.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/iio/iio.h>
+#include "inv_mpu_iio.h"
+
+static const struct regmap_config inv_mpu_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+
+static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
+{
+	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	int ret = 0;
+
+	ret = inv_mpu6050_set_power_itg(st, true);
+	if (ret)
+		return ret;
+
+	ret = regmap_write(st->map, INV_MPU6050_REG_USER_CTRL,
+			   INV_MPU6050_BIT_I2C_IF_DIS);
+	if (ret) {
+		inv_mpu6050_set_power_itg(st, false);
+		return ret;
+	}
+
+	return inv_mpu6050_set_power_itg(st, false);
+}
+
+static int inv_mpu_probe(struct spi_device *spi)
+{
+	struct regmap *regmap;
+	const struct spi_device_id *id = spi_get_device_id(spi);
+	const char *name = id ? id->name : NULL;
+	const int chip_type = id ? id->driver_data : 0;
+
+	regmap = devm_regmap_init_spi(spi, &inv_mpu_regmap_config);
+	if (IS_ERR(regmap)) {
+		dev_err(&spi->dev, "Failed to register spi regmap %d\n",
+			(int)PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	return inv_mpu_core_probe(regmap, spi->irq, name,
+				  inv_mpu_i2c_disable, chip_type);
+}
+
+static int inv_mpu_remove(struct spi_device *spi)
+{
+	return inv_mpu_core_remove(&spi->dev);
+}
+
+/*
+ * device id table is used to identify what device can be
+ * supported by this driver
+ */
+static const struct spi_device_id inv_mpu_id[] = {
+	{"mpu6000", INV_MPU6000},
+	{}
+};
+
+MODULE_DEVICE_TABLE(spi, inv_mpu_id);
+
+static const struct acpi_device_id inv_acpi_match[] = {
+	{"INVN6000", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
+
+static struct spi_driver inv_mpu_driver = {
+	.probe		=	inv_mpu_probe,
+	.remove		=	inv_mpu_remove,
+	.id_table	=	inv_mpu_id,
+	.driver = {
+		.acpi_match_table = ACPI_PTR(inv_acpi_match),
+		.name	=	"inv-mpu6000-spi",
+		.pm     =       &inv_mpu_pmops,
+	},
+};
+
+module_spi_driver(inv_mpu_driver);
+
+MODULE_AUTHOR("Adriana Reus <adriana.reus@intel.com>");
+MODULE_DESCRIPTION("Invensense device MPU6000 driver");
+MODULE_LICENSE("GPL");
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index 844610c3a..e8818d4dd 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -19,19 +19,19 @@ static void inv_scan_query(struct iio_dev *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);
+			 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);
+			 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);
 }
 
 /**
@@ -65,15 +65,15 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
 		if (result)
 			return result;
 	} else {
-		result = inv_mpu6050_write_reg(st, st->reg->fifo_en, 0);
+		result = regmap_write(st->map, st->reg->fifo_en, 0);
 		if (result)
 			return result;
 
-		result = inv_mpu6050_write_reg(st, st->reg->int_enable, 0);
+		result = regmap_write(st->map, st->reg->int_enable, 0);
 		if (result)
 			return result;
 
-		result = inv_mpu6050_write_reg(st, st->reg->user_ctrl, 0);
+		result = regmap_write(st->map, st->reg->user_ctrl, 0);
 		if (result)
 			return result;
 
@@ -101,7 +101,7 @@ static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
  * @state: Desired trigger state
  */
 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
-						bool state)
+					      bool state)
 {
 	return inv_mpu6050_set_enable(iio_trigger_get_drvdata(trig), state);
 }
@@ -123,7 +123,7 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
 	if (!st->trig)
 		return -ENOMEM;
 
-	ret = devm_request_irq(&indio_dev->dev, st->client->irq,
+	ret = devm_request_irq(&indio_dev->dev, st->irq,
 			       &iio_trigger_generic_data_rdy_poll,
 			       IRQF_TRIGGER_RISING,
 			       "inv_mpu",
@@ -131,7 +131,7 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev)
 	if (ret)
 		return ret;
 
-	st->trig->dev.parent = &st->client->dev;
+	st->trig->dev.parent = regmap_get_device(st->map);
 	st->trig->ops = &inv_mpu_trigger_ops;
 	iio_trigger_set_drvdata(st->trig, indio_dev);