Linux-libre 4.7.1-gnupck-4.7.1-gnu

16 files changed, 919 insertions, 83 deletions

diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
index 5e610f7de..1f1ad41ef 100644
--- a/drivers/iio/imu/Kconfig
+++ b/drivers/iio/imu/Kconfig
@@ -25,6 +25,8 @@ config ADIS16480
 	  Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
 	  ADIS16485, ADIS16488 inertial sensors.
 
+source "drivers/iio/imu/bmi160/Kconfig"
+
 config KMX61
 	tristate "Kionix KMX61 6-axis accelerometer and magnetometer"
 	depends on I2C
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
index e1e6e3d70..c71bcd30d 100644
--- a/drivers/iio/imu/Makefile
+++ b/drivers/iio/imu/Makefile
@@ -13,6 +13,7 @@ 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 += bmi160/
 obj-y += inv_mpu6050/
 
 obj-$(CONFIG_KMX61) += kmx61.o
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index 911255d41..ad6f91d06 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -324,7 +324,12 @@ static int adis_self_test(struct adis *adis)
 
 	msleep(adis->data->startup_delay);
 
-	return adis_check_status(adis);
+	ret = adis_check_status(adis);
+
+	if (adis->data->self_test_no_autoclear)
+		adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
+
+	return ret;
 }
 
 /**
diff --git a/drivers/iio/imu/bmi160/Kconfig b/drivers/iio/imu/bmi160/Kconfig
new file mode 100644
index 000000000..005c17ccc
--- /dev/null
+++ b/drivers/iio/imu/bmi160/Kconfig
@@ -0,0 +1,32 @@
+#
+# BMI160 IMU driver
+#
+
+config BMI160
+	tristate
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+
+config BMI160_I2C
+	tristate "Bosch BMI160 I2C driver"
+	depends on I2C
+	select BMI160
+	select REGMAP_I2C
+	help
+	  If you say yes here you get support for BMI160 IMU on I2C with
+	  accelerometer, gyroscope and external BMG160 magnetometer.
+
+	  This driver can also be built as a module. If so, the module will be
+	  called bmi160_i2c.
+
+config BMI160_SPI
+	tristate "Bosch BMI160 SPI driver"
+	depends on SPI
+	select BMI160
+	select REGMAP_SPI
+	help
+	  If you say yes here you get support for BMI160 IMU on SPI with
+	  accelerometer, gyroscope and external BMG160 magnetometer.
+
+	  This driver can also be built as a module. If so, the module will be
+	  called bmi160_spi.
diff --git a/drivers/iio/imu/bmi160/Makefile b/drivers/iio/imu/bmi160/Makefile
new file mode 100644
index 000000000..10365e493
--- /dev/null
+++ b/drivers/iio/imu/bmi160/Makefile
@@ -0,0 +1,6 @@
+#
+# Makefile for Bosch BMI160 IMU
+#
+obj-$(CONFIG_BMI160) += bmi160_core.o
+obj-$(CONFIG_BMI160_I2C) += bmi160_i2c.o
+obj-$(CONFIG_BMI160_SPI) += bmi160_spi.o
diff --git a/drivers/iio/imu/bmi160/bmi160.h b/drivers/iio/imu/bmi160/bmi160.h
new file mode 100644
index 000000000..d2ae6ed70
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160.h
@@ -0,0 +1,10 @@
+#ifndef BMI160_H_
+#define BMI160_H_
+
+extern const struct regmap_config bmi160_regmap_config;
+
+int bmi160_core_probe(struct device *dev, struct regmap *regmap,
+		      const char *name, bool use_spi);
+void bmi160_core_remove(struct device *dev);
+
+#endif  /* BMI160_H_ */
diff --git a/drivers/iio/imu/bmi160/bmi160_core.c b/drivers/iio/imu/bmi160/bmi160_core.c
new file mode 100644
index 000000000..b8a290ec9
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_core.c
@@ -0,0 +1,596 @@
+/*
+ * BMI160 - Bosch IMU (accel, gyro plus external magnetometer)
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License.  See the file COPYING in the main
+ * directory of this archive for more details.
+ *
+ * IIO core driver for BMI160, with support for I2C/SPI busses
+ *
+ * TODO: magnetometer, interrupts, hardware FIFO
+ */
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/acpi.h>
+#include <linux/delay.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/buffer.h>
+
+#include "bmi160.h"
+
+#define BMI160_REG_CHIP_ID	0x00
+#define BMI160_CHIP_ID_VAL	0xD1
+
+#define BMI160_REG_PMU_STATUS	0x03
+
+/* X axis data low byte address, the rest can be obtained using axis offset */
+#define BMI160_REG_DATA_MAGN_XOUT_L	0x04
+#define BMI160_REG_DATA_GYRO_XOUT_L	0x0C
+#define BMI160_REG_DATA_ACCEL_XOUT_L	0x12
+
+#define BMI160_REG_ACCEL_CONFIG		0x40
+#define BMI160_ACCEL_CONFIG_ODR_MASK	GENMASK(3, 0)
+#define BMI160_ACCEL_CONFIG_BWP_MASK	GENMASK(6, 4)
+
+#define BMI160_REG_ACCEL_RANGE		0x41
+#define BMI160_ACCEL_RANGE_2G		0x03
+#define BMI160_ACCEL_RANGE_4G		0x05
+#define BMI160_ACCEL_RANGE_8G		0x08
+#define BMI160_ACCEL_RANGE_16G		0x0C
+
+#define BMI160_REG_GYRO_CONFIG		0x42
+#define BMI160_GYRO_CONFIG_ODR_MASK	GENMASK(3, 0)
+#define BMI160_GYRO_CONFIG_BWP_MASK	GENMASK(5, 4)
+
+#define BMI160_REG_GYRO_RANGE		0x43
+#define BMI160_GYRO_RANGE_2000DPS	0x00
+#define BMI160_GYRO_RANGE_1000DPS	0x01
+#define BMI160_GYRO_RANGE_500DPS	0x02
+#define BMI160_GYRO_RANGE_250DPS	0x03
+#define BMI160_GYRO_RANGE_125DPS	0x04
+
+#define BMI160_REG_CMD			0x7E
+#define BMI160_CMD_ACCEL_PM_SUSPEND	0x10
+#define BMI160_CMD_ACCEL_PM_NORMAL	0x11
+#define BMI160_CMD_ACCEL_PM_LOW_POWER	0x12
+#define BMI160_CMD_GYRO_PM_SUSPEND	0x14
+#define BMI160_CMD_GYRO_PM_NORMAL	0x15
+#define BMI160_CMD_GYRO_PM_FAST_STARTUP	0x17
+#define BMI160_CMD_SOFTRESET		0xB6
+
+#define BMI160_REG_DUMMY		0x7F
+
+#define BMI160_ACCEL_PMU_MIN_USLEEP	3200
+#define BMI160_ACCEL_PMU_MAX_USLEEP	3800
+#define BMI160_GYRO_PMU_MIN_USLEEP	55000
+#define BMI160_GYRO_PMU_MAX_USLEEP	80000
+#define BMI160_SOFTRESET_USLEEP		1000
+
+#define BMI160_CHANNEL(_type, _axis, _index) {			\
+	.type = _type,						\
+	.modified = 1,						\
+	.channel2 = IIO_MOD_##_axis,				\
+	.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),		\
+	.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) |  \
+		BIT(IIO_CHAN_INFO_SAMP_FREQ),			\
+	.scan_index = _index,					\
+	.scan_type = {						\
+		.sign = 's',					\
+		.realbits = 16,					\
+		.storagebits = 16,				\
+		.endianness = IIO_LE,				\
+	},							\
+}
+
+/* scan indexes follow DATA register order */
+enum bmi160_scan_axis {
+	BMI160_SCAN_EXT_MAGN_X = 0,
+	BMI160_SCAN_EXT_MAGN_Y,
+	BMI160_SCAN_EXT_MAGN_Z,
+	BMI160_SCAN_RHALL,
+	BMI160_SCAN_GYRO_X,
+	BMI160_SCAN_GYRO_Y,
+	BMI160_SCAN_GYRO_Z,
+	BMI160_SCAN_ACCEL_X,
+	BMI160_SCAN_ACCEL_Y,
+	BMI160_SCAN_ACCEL_Z,
+	BMI160_SCAN_TIMESTAMP,
+};
+
+enum bmi160_sensor_type {
+	BMI160_ACCEL	= 0,
+	BMI160_GYRO,
+	BMI160_EXT_MAGN,
+	BMI160_NUM_SENSORS /* must be last */
+};
+
+struct bmi160_data {
+	struct regmap *regmap;
+};
+
+const struct regmap_config bmi160_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+};
+EXPORT_SYMBOL(bmi160_regmap_config);
+
+struct bmi160_regs {
+	u8 data; /* LSB byte register for X-axis */
+	u8 config;
+	u8 config_odr_mask;
+	u8 config_bwp_mask;
+	u8 range;
+	u8 pmu_cmd_normal;
+	u8 pmu_cmd_suspend;
+};
+
+static struct bmi160_regs bmi160_regs[] = {
+	[BMI160_ACCEL] = {
+		.data	= BMI160_REG_DATA_ACCEL_XOUT_L,
+		.config	= BMI160_REG_ACCEL_CONFIG,
+		.config_odr_mask = BMI160_ACCEL_CONFIG_ODR_MASK,
+		.config_bwp_mask = BMI160_ACCEL_CONFIG_BWP_MASK,
+		.range	= BMI160_REG_ACCEL_RANGE,
+		.pmu_cmd_normal = BMI160_CMD_ACCEL_PM_NORMAL,
+		.pmu_cmd_suspend = BMI160_CMD_ACCEL_PM_SUSPEND,
+	},
+	[BMI160_GYRO] = {
+		.data	= BMI160_REG_DATA_GYRO_XOUT_L,
+		.config	= BMI160_REG_GYRO_CONFIG,
+		.config_odr_mask = BMI160_GYRO_CONFIG_ODR_MASK,
+		.config_bwp_mask = BMI160_GYRO_CONFIG_BWP_MASK,
+		.range	= BMI160_REG_GYRO_RANGE,
+		.pmu_cmd_normal = BMI160_CMD_GYRO_PM_NORMAL,
+		.pmu_cmd_suspend = BMI160_CMD_GYRO_PM_SUSPEND,
+	},
+};
+
+struct bmi160_pmu_time {
+	unsigned long min;
+	unsigned long max;
+};
+
+static struct bmi160_pmu_time bmi160_pmu_time[] = {
+	[BMI160_ACCEL] = {
+		.min = BMI160_ACCEL_PMU_MIN_USLEEP,
+		.max = BMI160_ACCEL_PMU_MAX_USLEEP
+	},
+	[BMI160_GYRO] = {
+		.min = BMI160_GYRO_PMU_MIN_USLEEP,
+		.max = BMI160_GYRO_PMU_MIN_USLEEP,
+	},
+};
+
+struct bmi160_scale {
+	u8 bits;
+	int uscale;
+};
+
+struct bmi160_odr {
+	u8 bits;
+	int odr;
+	int uodr;
+};
+
+static const struct bmi160_scale bmi160_accel_scale[] = {
+	{ BMI160_ACCEL_RANGE_2G, 598},
+	{ BMI160_ACCEL_RANGE_4G, 1197},
+	{ BMI160_ACCEL_RANGE_8G, 2394},
+	{ BMI160_ACCEL_RANGE_16G, 4788},
+};
+
+static const struct bmi160_scale bmi160_gyro_scale[] = {
+	{ BMI160_GYRO_RANGE_2000DPS, 1065},
+	{ BMI160_GYRO_RANGE_1000DPS, 532},
+	{ BMI160_GYRO_RANGE_500DPS, 266},
+	{ BMI160_GYRO_RANGE_250DPS, 133},
+	{ BMI160_GYRO_RANGE_125DPS, 66},
+};
+
+struct bmi160_scale_item {
+	const struct bmi160_scale *tbl;
+	int num;
+};
+
+static const struct  bmi160_scale_item bmi160_scale_table[] = {
+	[BMI160_ACCEL] = {
+		.tbl	= bmi160_accel_scale,
+		.num	= ARRAY_SIZE(bmi160_accel_scale),
+	},
+	[BMI160_GYRO] = {
+		.tbl	= bmi160_gyro_scale,
+		.num	= ARRAY_SIZE(bmi160_gyro_scale),
+	},
+};
+
+static const struct bmi160_odr bmi160_accel_odr[] = {
+	{0x01, 0, 781250},
+	{0x02, 1, 562500},
+	{0x03, 3, 125000},
+	{0x04, 6, 250000},
+	{0x05, 12, 500000},
+	{0x06, 25, 0},
+	{0x07, 50, 0},
+	{0x08, 100, 0},
+	{0x09, 200, 0},
+	{0x0A, 400, 0},
+	{0x0B, 800, 0},
+	{0x0C, 1600, 0},
+};
+
+static const struct bmi160_odr bmi160_gyro_odr[] = {
+	{0x06, 25, 0},
+	{0x07, 50, 0},
+	{0x08, 100, 0},
+	{0x09, 200, 0},
+	{0x0A, 400, 0},
+	{0x0B, 800, 0},
+	{0x0C, 1600, 0},
+	{0x0D, 3200, 0},
+};
+
+struct bmi160_odr_item {
+	const struct bmi160_odr *tbl;
+	int num;
+};
+
+static const struct  bmi160_odr_item bmi160_odr_table[] = {
+	[BMI160_ACCEL] = {
+		.tbl	= bmi160_accel_odr,
+		.num	= ARRAY_SIZE(bmi160_accel_odr),
+	},
+	[BMI160_GYRO] = {
+		.tbl	= bmi160_gyro_odr,
+		.num	= ARRAY_SIZE(bmi160_gyro_odr),
+	},
+};
+
+static const struct iio_chan_spec bmi160_channels[] = {
+	BMI160_CHANNEL(IIO_ACCEL, X, BMI160_SCAN_ACCEL_X),
+	BMI160_CHANNEL(IIO_ACCEL, Y, BMI160_SCAN_ACCEL_Y),
+	BMI160_CHANNEL(IIO_ACCEL, Z, BMI160_SCAN_ACCEL_Z),
+	BMI160_CHANNEL(IIO_ANGL_VEL, X, BMI160_SCAN_GYRO_X),
+	BMI160_CHANNEL(IIO_ANGL_VEL, Y, BMI160_SCAN_GYRO_Y),
+	BMI160_CHANNEL(IIO_ANGL_VEL, Z, BMI160_SCAN_GYRO_Z),
+	IIO_CHAN_SOFT_TIMESTAMP(BMI160_SCAN_TIMESTAMP),
+};
+
+static enum bmi160_sensor_type bmi160_to_sensor(enum iio_chan_type iio_type)
+{
+	switch (iio_type) {
+	case IIO_ACCEL:
+		return BMI160_ACCEL;
+	case IIO_ANGL_VEL:
+		return BMI160_GYRO;
+	default:
+		return -EINVAL;
+	}
+}
+
+static
+int bmi160_set_mode(struct bmi160_data *data, enum bmi160_sensor_type t,
+		    bool mode)
+{
+	int ret;
+	u8 cmd;
+
+	if (mode)
+		cmd = bmi160_regs[t].pmu_cmd_normal;
+	else
+		cmd = bmi160_regs[t].pmu_cmd_suspend;
+
+	ret = regmap_write(data->regmap, BMI160_REG_CMD, cmd);
+	if (ret < 0)
+		return ret;
+
+	usleep_range(bmi160_pmu_time[t].min, bmi160_pmu_time[t].max);
+
+	return 0;
+}
+
+static
+int bmi160_set_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
+		     int uscale)
+{
+	int i;
+
+	for (i = 0; i < bmi160_scale_table[t].num; i++)
+		if (bmi160_scale_table[t].tbl[i].uscale == uscale)
+			break;
+
+	if (i == bmi160_scale_table[t].num)
+		return -EINVAL;
+
+	return regmap_write(data->regmap, bmi160_regs[t].range,
+			    bmi160_scale_table[t].tbl[i].bits);
+}
+
+static
+int bmi160_get_scale(struct bmi160_data *data, enum bmi160_sensor_type t,
+		     int *uscale)
+{
+	int i, ret, val;
+
+	ret = regmap_read(data->regmap, bmi160_regs[t].range, &val);
+	if (ret < 0)
+		return ret;
+
+	for (i = 0; i < bmi160_scale_table[t].num; i++)
+		if (bmi160_scale_table[t].tbl[i].bits == val) {
+			*uscale = bmi160_scale_table[t].tbl[i].uscale;
+			return 0;
+		}
+
+	return -EINVAL;
+}
+
+static int bmi160_get_data(struct bmi160_data *data, int chan_type,
+			   int axis, int *val)
+{
+	u8 reg;
+	int ret;
+	__le16 sample;
+	enum bmi160_sensor_type t = bmi160_to_sensor(chan_type);
+
+	reg = bmi160_regs[t].data + (axis - IIO_MOD_X) * sizeof(__le16);
+
+	ret = regmap_bulk_read(data->regmap, reg, &sample, sizeof(__le16));
+	if (ret < 0)
+		return ret;
+
+	*val = sign_extend32(le16_to_cpu(sample), 15);
+
+	return 0;
+}
+
+static
+int bmi160_set_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
+		   int odr, int uodr)
+{
+	int i;
+
+	for (i = 0; i < bmi160_odr_table[t].num; i++)
+		if (bmi160_odr_table[t].tbl[i].odr == odr &&
+		    bmi160_odr_table[t].tbl[i].uodr == uodr)
+			break;
+
+	if (i >= bmi160_odr_table[t].num)
+		return -EINVAL;
+
+	return regmap_update_bits(data->regmap,
+				  bmi160_regs[t].config,
+				  bmi160_regs[t].config_odr_mask,
+				  bmi160_odr_table[t].tbl[i].bits);
+}
+
+static int bmi160_get_odr(struct bmi160_data *data, enum bmi160_sensor_type t,
+			  int *odr, int *uodr)
+{
+	int i, val, ret;
+
+	ret = regmap_read(data->regmap, bmi160_regs[t].config, &val);
+	if (ret < 0)
+		return ret;
+
+	val &= bmi160_regs[t].config_odr_mask;
+
+	for (i = 0; i < bmi160_odr_table[t].num; i++)
+		if (val == bmi160_odr_table[t].tbl[i].bits)
+			break;
+
+	if (i >= bmi160_odr_table[t].num)
+		return -EINVAL;
+
+	*odr = bmi160_odr_table[t].tbl[i].odr;
+	*uodr = bmi160_odr_table[t].tbl[i].uodr;
+
+	return 0;
+}
+
+static irqreturn_t bmi160_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct bmi160_data *data = iio_priv(indio_dev);
+	s16 buf[16]; /* 3 sens x 3 axis x s16 + 3 x s16 pad + 4 x s16 tstamp */
+	int i, ret, j = 0, base = BMI160_REG_DATA_MAGN_XOUT_L;
+	__le16 sample;
+
+	for_each_set_bit(i, indio_dev->active_scan_mask,
+			 indio_dev->masklength) {
+		ret = regmap_bulk_read(data->regmap, base + i * sizeof(__le16),
+				       &sample, sizeof(__le16));
+		if (ret < 0)
+			goto done;
+		buf[j++] = sample;
+	}
+
+	iio_push_to_buffers_with_timestamp(indio_dev, buf, iio_get_time_ns());
+done:
+	iio_trigger_notify_done(indio_dev->trig);
+	return IRQ_HANDLED;
+}
+
+static int bmi160_read_raw(struct iio_dev *indio_dev,
+			   struct iio_chan_spec const *chan,
+			   int *val, int *val2, long mask)
+{
+	int ret;
+	struct bmi160_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = bmi160_get_data(data, chan->type, chan->channel2, val);
+		if (ret < 0)
+			return ret;
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		*val = 0;
+		ret = bmi160_get_scale(data,
+				       bmi160_to_sensor(chan->type), val2);
+		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		ret = bmi160_get_odr(data, bmi160_to_sensor(chan->type),
+				     val, val2);
+		return ret < 0 ? ret : IIO_VAL_INT_PLUS_MICRO;
+	default:
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static int bmi160_write_raw(struct iio_dev *indio_dev,
+			    struct iio_chan_spec const *chan,
+			    int val, int val2, long mask)
+{
+	struct bmi160_data *data = iio_priv(indio_dev);
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SCALE:
+		return bmi160_set_scale(data,
+					bmi160_to_sensor(chan->type), val2);
+		break;
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		return bmi160_set_odr(data, bmi160_to_sensor(chan->type),
+				      val, val2);
+	default:
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static const struct iio_info bmi160_info = {
+	.driver_module = THIS_MODULE,
+	.read_raw = bmi160_read_raw,
+	.write_raw = bmi160_write_raw,
+};
+
+static const char *bmi160_match_acpi_device(struct device *dev)
+{
+	const struct acpi_device_id *id;
+
+	id = acpi_match_device(dev->driver->acpi_match_table, dev);
+	if (!id)
+		return NULL;
+
+	return dev_name(dev);
+}
+
+static int bmi160_chip_init(struct bmi160_data *data, bool use_spi)
+{
+	int ret;
+	unsigned int val;
+	struct device *dev = regmap_get_device(data->regmap);
+
+	ret = regmap_write(data->regmap, BMI160_REG_CMD, BMI160_CMD_SOFTRESET);
+	if (ret < 0)
+		return ret;
+
+	usleep_range(BMI160_SOFTRESET_USLEEP, BMI160_SOFTRESET_USLEEP + 1);
+
+	/*
+	 * CS rising edge is needed before starting SPI, so do a dummy read
+	 * See Section 3.2.1, page 86 of the datasheet
+	 */
+	if (use_spi) {
+		ret = regmap_read(data->regmap, BMI160_REG_DUMMY, &val);
+		if (ret < 0)
+			return ret;
+	}
+
+	ret = regmap_read(data->regmap, BMI160_REG_CHIP_ID, &val);
+	if (ret < 0) {
+		dev_err(dev, "Error reading chip id\n");
+		return ret;
+	}
+	if (val != BMI160_CHIP_ID_VAL) {
+		dev_err(dev, "Wrong chip id, got %x expected %x\n",
+			val, BMI160_CHIP_ID_VAL);
+		return -ENODEV;
+	}
+
+	ret = bmi160_set_mode(data, BMI160_ACCEL, true);
+	if (ret < 0)
+		return ret;
+
+	ret = bmi160_set_mode(data, BMI160_GYRO, true);
+	if (ret < 0)
+		return ret;
+
+	return 0;
+}
+
+static void bmi160_chip_uninit(struct bmi160_data *data)
+{
+	bmi160_set_mode(data, BMI160_GYRO, false);
+	bmi160_set_mode(data, BMI160_ACCEL, false);
+}
+
+int bmi160_core_probe(struct device *dev, struct regmap *regmap,
+		      const char *name, bool use_spi)
+{
+	struct iio_dev *indio_dev;
+	struct bmi160_data *data;
+	int ret;
+
+	indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	data = iio_priv(indio_dev);
+	dev_set_drvdata(dev, indio_dev);
+	data->regmap = regmap;
+
+	ret = bmi160_chip_init(data, use_spi);
+	if (ret < 0)
+		return ret;
+
+	if (!name && ACPI_HANDLE(dev))
+		name = bmi160_match_acpi_device(dev);
+
+	indio_dev->dev.parent = dev;
+	indio_dev->channels = bmi160_channels;
+	indio_dev->num_channels = ARRAY_SIZE(bmi160_channels);
+	indio_dev->name = name;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &bmi160_info;
+
+	ret = iio_triggered_buffer_setup(indio_dev, NULL,
+					 bmi160_trigger_handler, NULL);
+	if (ret < 0)
+		goto uninit;
+
+	ret = iio_device_register(indio_dev);
+	if (ret < 0)
+		goto buffer_cleanup;
+
+	return 0;
+buffer_cleanup:
+	iio_triggered_buffer_cleanup(indio_dev);
+uninit:
+	bmi160_chip_uninit(data);
+	return ret;
+}
+EXPORT_SYMBOL_GPL(bmi160_core_probe);
+
+void bmi160_core_remove(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct bmi160_data *data = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	iio_triggered_buffer_cleanup(indio_dev);
+	bmi160_chip_uninit(data);
+}
+EXPORT_SYMBOL_GPL(bmi160_core_remove);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
+MODULE_DESCRIPTION("Bosch BMI160 driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/bmi160/bmi160_i2c.c b/drivers/iio/imu/bmi160/bmi160_i2c.c
new file mode 100644
index 000000000..07a179d8f
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_i2c.c
@@ -0,0 +1,72 @@
+/*
+ * BMI160 - Bosch IMU, I2C bits
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License.  See the file COPYING in the main
+ * directory of this archive for more details.
+ *
+ * 7-bit I2C slave address is:
+ *      - 0x68 if SDO is pulled to GND
+ *      - 0x69 if SDO is pulled to VDDIO
+ */
+#include <linux/module.h>
+#include <linux/i2c.h>
+#include <linux/regmap.h>
+#include <linux/acpi.h>
+
+#include "bmi160.h"
+
+static int bmi160_i2c_probe(struct i2c_client *client,
+			    const struct i2c_device_id *id)
+{
+	struct regmap *regmap;
+	const char *name = NULL;
+
+	regmap = devm_regmap_init_i2c(client, &bmi160_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);
+	}
+
+	if (id)
+		name = id->name;
+
+	return bmi160_core_probe(&client->dev, regmap, name, false);
+}
+
+static int bmi160_i2c_remove(struct i2c_client *client)
+{
+	bmi160_core_remove(&client->dev);
+
+	return 0;
+}
+
+static const struct i2c_device_id bmi160_i2c_id[] = {
+	{"bmi160", 0},
+	{}
+};
+MODULE_DEVICE_TABLE(i2c, bmi160_i2c_id);
+
+static const struct acpi_device_id bmi160_acpi_match[] = {
+	{"BMI0160", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match);
+
+static struct i2c_driver bmi160_i2c_driver = {
+	.driver = {
+		.name			= "bmi160_i2c",
+		.acpi_match_table	= ACPI_PTR(bmi160_acpi_match),
+	},
+	.probe		= bmi160_i2c_probe,
+	.remove		= bmi160_i2c_remove,
+	.id_table	= bmi160_i2c_id,
+};
+module_i2c_driver(bmi160_i2c_driver);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com>");
+MODULE_DESCRIPTION("BMI160 I2C driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/bmi160/bmi160_spi.c b/drivers/iio/imu/bmi160/bmi160_spi.c
new file mode 100644
index 000000000..1ec8b12bd
--- /dev/null
+++ b/drivers/iio/imu/bmi160/bmi160_spi.c
@@ -0,0 +1,63 @@
+/*
+ * BMI160 - Bosch IMU, SPI bits
+ *
+ * Copyright (c) 2016, Intel Corporation.
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License.  See the file COPYING in the main
+ * directory of this archive for more details.
+ */
+#include <linux/module.h>
+#include <linux/spi/spi.h>
+#include <linux/regmap.h>
+#include <linux/acpi.h>
+
+#include "bmi160.h"
+
+static int bmi160_spi_probe(struct spi_device *spi)
+{
+	struct regmap *regmap;
+	const struct spi_device_id *id = spi_get_device_id(spi);
+
+	regmap = devm_regmap_init_spi(spi, &bmi160_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 bmi160_core_probe(&spi->dev, regmap, id->name, true);
+}
+
+static int bmi160_spi_remove(struct spi_device *spi)
+{
+	bmi160_core_remove(&spi->dev);
+
+	return 0;
+}
+
+static const struct spi_device_id bmi160_spi_id[] = {
+	{"bmi160", 0},
+	{}
+};
+MODULE_DEVICE_TABLE(spi, bmi160_spi_id);
+
+static const struct acpi_device_id bmi160_acpi_match[] = {
+	{"BMI0160", 0},
+	{ },
+};
+MODULE_DEVICE_TABLE(acpi, bmi160_acpi_match);
+
+static struct spi_driver bmi160_spi_driver = {
+	.probe		= bmi160_spi_probe,
+	.remove		= bmi160_spi_remove,
+	.id_table	= bmi160_spi_id,
+	.driver = {
+		.acpi_match_table = ACPI_PTR(bmi160_acpi_match),
+		.name	= "bmi160_spi",
+	},
+};
+module_spi_driver(bmi160_spi_driver);
+
+MODULE_AUTHOR("Daniel Baluta <daniel.baluta@intel.com");
+MODULE_DESCRIPTION("Bosch BMI160 SPI driver");
+MODULE_LICENSE("GPL v2");
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 847455a2d..f756feecf 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -13,10 +13,8 @@ config INV_MPU6050_I2C
 	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 supports the Invensense MPU6050/6500/9150 motion tracking
+	  devices over I2C.
 	  This driver can be built as a module. The module will be called
 	  inv-mpu6050-i2c.
 
@@ -26,7 +24,7 @@ config INV_MPU6050_SPI
 	select INV_MPU6050_IIO
 	select REGMAP_SPI
 	help
-	  This driver supports the Invensense MPU6050 devices.
-	  It is a gyroscope/accelerometer combo device.
+	  This driver supports the Invensense MPU6000/6500/9150 motion tracking
+	  devices over SPI.
 	  This driver can be built as a module. The module will be called
 	  inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
index 2771106fd..dd6fc6d21 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_acpi.c
@@ -56,6 +56,7 @@ static int asus_acpi_get_sensor_info(struct acpi_device *adev,
 	int i;
 	acpi_status status;
 	union acpi_object *cpm;
+	int ret;
 
 	status = acpi_evaluate_object(adev->handle, "CNF0", NULL, &buffer);
 	if (ACPI_FAILURE(status))
@@ -82,10 +83,10 @@ static int asus_acpi_get_sensor_info(struct acpi_device *adev,
 			}
 		}
 	}
-
+	ret = cpm->package.count;
 	kfree(buffer.pointer);
 
-	return cpm->package.count;
+	return ret;
 }
 
 static int acpi_i2c_check_resource(struct acpi_resource *ares, void *data)
@@ -183,7 +184,7 @@ int inv_mpu_acpi_create_mux_client(struct i2c_client *client)
 			} else
 				return 0; /* no secondary addr, which is OK */
 		}
-		st->mux_client = i2c_new_device(st->mux_adapter, &info);
+		st->mux_client = i2c_new_device(st->muxc->adapter[0], &info);
 		if (!st->mux_client)
 			return -ENODEV;
 	}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index d192953e9..ee40dae5a 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -23,7 +23,6 @@
 #include <linux/kfifo.h>
 #include <linux/spinlock.h>
 #include <linux/iio/iio.h>
-#include <linux/i2c-mux.h>
 #include <linux/acpi.h>
 #include "inv_mpu_iio.h"
 
@@ -88,16 +87,29 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
 	.accl_fs = INV_MPU6050_FS_02G,
 };
 
+/* Indexed by enum inv_devices */
 static const struct inv_mpu6050_hw hw_info[] = {
 	{
-		.num_reg = 117,
+		.whoami = INV_MPU6050_WHOAMI_VALUE,
+		.name = "MPU6050",
+		.reg = &reg_set_6050,
+		.config = &chip_config_6050,
+	},
+	{
+		.whoami = INV_MPU6500_WHOAMI_VALUE,
 		.name = "MPU6500",
 		.reg = &reg_set_6500,
 		.config = &chip_config_6050,
 	},
 	{
-		.num_reg = 117,
-		.name = "MPU6050",
+		.whoami = INV_MPU6000_WHOAMI_VALUE,
+		.name = "MPU6000",
+		.reg = &reg_set_6050,
+		.config = &chip_config_6050,
+	},
+	{
+		.whoami = INV_MPU9150_WHOAMI_VALUE,
+		.name = "MPU9150",
 		.reg = &reg_set_6050,
 		.config = &chip_config_6050,
 	},
@@ -600,6 +612,10 @@ inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
 /**
  * inv_attr_show() - calling this function will show current
  *                    parameters.
+ *
+ * Deprecated in favor of IIO mounting matrix API.
+ *
+ * See inv_get_mount_matrix()
  */
 static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
 			     char *buf)
@@ -644,6 +660,18 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 	return 0;
 }
 
+static const struct iio_mount_matrix *
+inv_get_mount_matrix(const struct iio_dev *indio_dev,
+		     const struct iio_chan_spec *chan)
+{
+	return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
+}
+
+static const struct iio_chan_spec_ext_info inv_ext_info[] = {
+	IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
+	{ },
+};
+
 #define INV_MPU6050_CHAN(_type, _channel2, _index)                    \
 	{                                                             \
 		.type = _type,                                        \
@@ -660,6 +688,7 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
 				.shift = 0,                           \
 				.endianness = IIO_BE,                 \
 			     },                                       \
+		.ext_info = inv_ext_info,                             \
 	}
 
 static const struct iio_chan_spec inv_mpu_channels[] = {
@@ -692,14 +721,16 @@ static IIO_CONST_ATTR(in_accel_scale_available,
 					  "0.000598 0.001196 0.002392 0.004785");
 static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
 	inv_mpu6050_fifo_rate_store);
+
+/* Deprecated: kept for userspace backward compatibility. */
 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_in_gyro_matrix.dev_attr.attr,  /* deprecated */
+	&iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
 	&iio_dev_attr_sampling_frequency.dev_attr.attr,
 	&iio_const_attr_sampling_frequency_available.dev_attr.attr,
 	&iio_const_attr_in_accel_scale_available.dev_attr.attr,
@@ -726,6 +757,7 @@ static const struct iio_info mpu_info = {
 static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 {
 	int result;
+	unsigned int regval;
 
 	st->hw  = &hw_info[st->chip_type];
 	st->reg = hw_info[st->chip_type].reg;
@@ -736,6 +768,17 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 	if (result)
 		return result;
 	msleep(INV_MPU6050_POWER_UP_TIME);
+
+	/* check chip self-identification */
+	result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
+	if (result)
+		return result;
+	if (regval != st->hw->whoami) {
+		dev_warn(regmap_get_device(st->map),
+				"whoami mismatch got %#02x expected %#02hhx for %s\n",
+				regval, st->hw->whoami, st->hw->name);
+	}
+
 	/*
 	 * toggle power state. After reset, the sleep bit could be on
 	 * or off depending on the OTP settings. Toggling power would
@@ -774,14 +817,31 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 	if (!indio_dev)
 		return -ENOMEM;
 
+	BUILD_BUG_ON(ARRAY_SIZE(hw_info) != INV_NUM_PARTS);
+	if (chip_type < 0 || chip_type >= INV_NUM_PARTS) {
+		dev_err(dev, "Bad invensense chip_type=%d name=%s\n",
+				chip_type, name);
+		return -ENODEV;
+	}
 	st = iio_priv(indio_dev);
 	st->chip_type = chip_type;
 	st->powerup_count = 0;
 	st->irq = irq;
 	st->map = regmap;
+
 	pdata = dev_get_platdata(dev);
-	if (pdata)
+	if (!pdata) {
+		result = of_iio_read_mount_matrix(dev, "mount-matrix",
+						  &st->orientation);
+		if (result) {
+			dev_err(dev, "Failed to retrieve mounting matrix %d\n",
+				result);
+			return result;
+		}
+	} else {
 		st->plat_data = *pdata;
+	}
+
 	/* power is turned on inside check chip type*/
 	result = inv_check_and_setup_chip(st);
 	if (result)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 5ee4e0dc0..e1fd7fa53 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -15,7 +15,6 @@
 #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"
@@ -25,46 +24,16 @@ static const struct regmap_config inv_mpu_regmap_config = {
 	.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)
+static int inv_mpu6050_select_bypass(struct i2c_mux_core *muxc, u32 chan_id)
 {
-	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 iio_dev *indio_dev = i2c_mux_priv(muxc);
 	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);
+		ret = regmap_write(st->map, st->reg->pwr_mgmt_1, 0);
 		if (ret)
 			goto write_error;
 
@@ -73,10 +42,9 @@ static int inv_mpu6050_select_bypass(struct i2c_adapter *adap, void *mux_priv,
 	}
 	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);
+		ret = regmap_write(st->map, st->reg->int_pin_cfg,
+				   INV_MPU6050_INT_PIN_CFG |
+				   INV_MPU6050_BIT_BYPASS_EN);
 	}
 write_error:
 	mutex_unlock(&indio_dev->mlock);
@@ -84,21 +52,18 @@ write_error:
 	return ret;
 }
 
-static int inv_mpu6050_deselect_bypass(struct i2c_adapter *adap,
-				       void *mux_priv, u32 chan_id)
+static int inv_mpu6050_deselect_bypass(struct i2c_mux_core *muxc, u32 chan_id)
 {
-	struct i2c_client *client = mux_priv;
-	struct iio_dev *indio_dev = dev_get_drvdata(&client->dev);
+	struct iio_dev *indio_dev = i2c_mux_priv(muxc);
 	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);
+	regmap_write(st->map, 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);
+		regmap_write(st->map, st->reg->pwr_mgmt_1,
+			     INV_MPU6050_BIT_SLEEP);
 	mutex_unlock(&indio_dev->mlock);
 
 	return 0;
@@ -160,16 +125,18 @@ static int inv_mpu_probe(struct i2c_client *client,
 		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;
+	st->muxc = i2c_mux_alloc(client->adapter, &client->dev,
+				 1, 0, I2C_MUX_LOCKED,
+				 inv_mpu6050_select_bypass,
+				 inv_mpu6050_deselect_bypass);
+	if (!st->muxc) {
+		result = -ENOMEM;
 		goto out_unreg_device;
 	}
+	st->muxc->priv = dev_get_drvdata(&client->dev);
+	result = i2c_mux_add_adapter(st->muxc, 0, 0, 0);
+	if (result)
+		goto out_unreg_device;
 
 	result = inv_mpu_acpi_create_mux_client(client);
 	if (result)
@@ -178,7 +145,7 @@ static int inv_mpu_probe(struct i2c_client *client,
 	return 0;
 
 out_del_mux:
-	i2c_del_mux_adapter(st->mux_adapter);
+	i2c_mux_del_adapters(st->muxc);
 out_unreg_device:
 	inv_mpu_core_remove(&client->dev);
 	return result;
@@ -190,7 +157,7 @@ static int inv_mpu_remove(struct i2c_client *client)
 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
 
 	inv_mpu_acpi_delete_mux_client(client);
-	i2c_del_mux_adapter(st->mux_adapter);
+	i2c_mux_del_adapters(st->muxc);
 
 	return inv_mpu_core_remove(&client->dev);
 }
@@ -202,13 +169,14 @@ static int inv_mpu_remove(struct i2c_client *client)
 static const struct i2c_device_id inv_mpu_id[] = {
 	{"mpu6050", INV_MPU6050},
 	{"mpu6500", INV_MPU6500},
+	{"mpu9150", INV_MPU9150},
 	{}
 };
 
 MODULE_DEVICE_TABLE(i2c, inv_mpu_id);
 
 static const struct acpi_device_id inv_acpi_match[] = {
-	{"INVN6500", 0},
+	{"INVN6500", INV_MPU6500},
 	{ },
 };
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index e302a4970..3bf8544cc 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -11,6 +11,7 @@
 * GNU General Public License for more details.
 */
 #include <linux/i2c.h>
+#include <linux/i2c-mux.h>
 #include <linux/kfifo.h>
 #include <linux/spinlock.h>
 #include <linux/iio/iio.h>
@@ -68,6 +69,7 @@ enum inv_devices {
 	INV_MPU6050,
 	INV_MPU6500,
 	INV_MPU6000,
+	INV_MPU9150,
 	INV_NUM_PARTS
 };
 
@@ -93,13 +95,13 @@ struct inv_mpu6050_chip_config {
 
 /**
  *  struct inv_mpu6050_hw - Other important hardware information.
- *  @num_reg:	Number of registers on device.
+ *  @whoami:	Self identification byte from WHO_AM_I register
  *  @name:      name of the chip.
  *  @reg:   register map of the chip.
  *  @config:    configuration of the chip.
  */
 struct inv_mpu6050_hw {
-	u8 num_reg;
+	u8 whoami;
 	u8 *name;
 	const struct inv_mpu6050_reg_map *reg;
 	const struct inv_mpu6050_chip_config *config;
@@ -114,7 +116,8 @@ struct inv_mpu6050_hw {
  *  @hw:		Other hardware-specific information.
  *  @chip_type:		chip type.
  *  @time_stamp_lock:	spin lock to time stamp.
- *  @plat_data:		platform data.
+ *  @plat_data:		platform data (deprecated in favor of @orientation).
+ *  @orientation:	sensor chip orientation relative to main hardware.
  *  @timestamps:        kfifo queue to store time stamp.
  *  @map		regmap pointer.
  *  @irq		interrupt number.
@@ -127,10 +130,11 @@ struct inv_mpu6050_state {
 	const struct inv_mpu6050_hw *hw;
 	enum   inv_devices chip_type;
 	spinlock_t time_stamp_lock;
-	struct i2c_adapter *mux_adapter;
+	struct i2c_mux_core *muxc;
 	struct i2c_client *mux_client;
 	unsigned int powerup_count;
 	struct inv_mpu6050_platform_data plat_data;
+	struct iio_mount_matrix orientation;
 	DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
 	struct regmap *map;
 	int irq;
@@ -215,6 +219,13 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_MIN_FIFO_RATE            4
 #define INV_MPU6050_ONE_K_HZ                 1000
 
+#define INV_MPU6050_REG_WHOAMI			117
+
+#define INV_MPU6000_WHOAMI_VALUE		0x68
+#define INV_MPU6050_WHOAMI_VALUE		0x68
+#define INV_MPU6500_WHOAMI_VALUE		0x70
+#define INV_MPU9150_WHOAMI_VALUE		0x68
+
 /* scan element definition */
 enum inv_mpu6050_scan {
 	INV_MPU6050_SCAN_ACCL_X,
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
index 7bcb8d839..190a4a51c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c
@@ -44,9 +44,19 @@ static int inv_mpu_i2c_disable(struct iio_dev *indio_dev)
 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;
+	const struct spi_device_id *spi_id;
+	const struct acpi_device_id *acpi_id;
+	const char *name = NULL;
+	enum inv_devices chip_type;
+
+	if ((spi_id = spi_get_device_id(spi))) {
+		chip_type = (enum inv_devices)spi_id->driver_data;
+		name = spi_id->name;
+	} else if ((acpi_id = acpi_match_device(spi->dev.driver->acpi_match_table, &spi->dev))) {
+		chip_type = (enum inv_devices)acpi_id->driver_data;
+	} else {
+		return -ENODEV;
+	}
 
 	regmap = devm_regmap_init_spi(spi, &inv_mpu_regmap_config);
 	if (IS_ERR(regmap)) {
@@ -70,13 +80,15 @@ static int inv_mpu_remove(struct spi_device *spi)
  */
 static const struct spi_device_id inv_mpu_id[] = {
 	{"mpu6000", INV_MPU6000},
+	{"mpu6500", INV_MPU6500},
+	{"mpu9150", INV_MPU9150},
 	{}
 };
 
 MODULE_DEVICE_TABLE(spi, inv_mpu_id);
 
 static const struct acpi_device_id inv_acpi_match[] = {
-	{"INVN6000", 0},
+	{"INVN6000", INV_MPU6000},
 	{ },
 };
 MODULE_DEVICE_TABLE(acpi, inv_acpi_match);
diff --git a/drivers/iio/imu/kmx61.c b/drivers/iio/imu/kmx61.c
index e5306b4e0..2e7dd5754 100644
--- a/drivers/iio/imu/kmx61.c
+++ b/drivers/iio/imu/kmx61.c
@@ -14,7 +14,6 @@
 #include <linux/module.h>
 #include <linux/i2c.h>
 #include <linux/acpi.h>
-#include <linux/gpio/consumer.h>
 #include <linux/interrupt.h>
 #include <linux/pm.h>
 #include <linux/pm_runtime.h>