Merging upstream version 6.7.7.

Signed-off-by: Daniel Baumann <daniel.baumann@progress-linux.org>

5 files changed, 218 insertions, 39 deletions

diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
index 6c81dc5bf2..64be656f0b 100644
--- a/drivers/iio/imu/adis16475.c
+++ b/drivers/iio/imu/adis16475.c
@@ -31,6 +31,12 @@
 #define ADIS16475_REG_Y_ACCEL_L		0x14
 #define ADIS16475_REG_Z_ACCEL_L		0x18
 #define ADIS16475_REG_TEMP_OUT		0x1c
+#define ADIS16475_REG_X_DELTANG_L	0x24
+#define ADIS16475_REG_Y_DELTANG_L	0x28
+#define ADIS16475_REG_Z_DELTANG_L	0x2C
+#define ADIS16475_REG_X_DELTVEL_L	0x30
+#define ADIS16475_REG_Y_DELTVEL_L	0x34
+#define ADIS16475_REG_Z_DELTVEL_L	0x38
 #define ADIS16475_REG_X_GYRO_BIAS_L	0x40
 #define ADIS16475_REG_Y_GYRO_BIAS_L	0x44
 #define ADIS16475_REG_Z_GYRO_BIAS_L	0x48
@@ -55,6 +61,7 @@
 #define ADIS16475_REG_PROD_ID		0x72
 #define ADIS16475_REG_SERIAL_NUM	0x74
 #define ADIS16475_REG_FLASH_CNT		0x7c
+#define ADIS16500_BURST_DATA_SEL_MASK	BIT(8)
 #define ADIS16500_BURST32_MASK		BIT(9)
 #define ADIS16500_BURST32(x)		FIELD_PREP(ADIS16500_BURST32_MASK, x)
 /* number of data elements in burst mode */
@@ -65,6 +72,8 @@
 #define ADIS16475_BURST_MAX_SPEED	1000000
 #define ADIS16475_LSB_DEC_MASK		0
 #define ADIS16475_LSB_FIR_MASK		1
+#define ADIS16500_BURST_DATA_SEL_0_CHN_MASK	GENMASK(5, 0)
+#define ADIS16500_BURST_DATA_SEL_1_CHN_MASK	GENMASK(12, 7)
 
 enum {
 	ADIS16475_SYNC_DIRECT = 1,
@@ -84,16 +93,20 @@ struct adis16475_chip_info {
 	const struct adis16475_sync *sync;
 	const struct adis_data adis_data;
 	const char *name;
+#define ADIS16475_HAS_BURST32		BIT(0)
+#define ADIS16475_HAS_BURST_DELTA_DATA	BIT(1)
+	const long flags;
 	u32 num_channels;
 	u32 gyro_max_val;
 	u32 gyro_max_scale;
 	u32 accel_max_val;
 	u32 accel_max_scale;
 	u32 temp_scale;
+	u32 deltang_max_val;
+	u32 deltvel_max_val;
 	u32 int_clk;
 	u16 max_dec;
 	u8 num_sync;
-	bool has_burst32;
 };
 
 struct adis16475 {
@@ -115,6 +128,12 @@ enum {
 	ADIS16475_SCAN_ACCEL_Y,
 	ADIS16475_SCAN_ACCEL_Z,
 	ADIS16475_SCAN_TEMP,
+	ADIS16475_SCAN_DELTANG_X,
+	ADIS16475_SCAN_DELTANG_Y,
+	ADIS16475_SCAN_DELTANG_Z,
+	ADIS16475_SCAN_DELTVEL_X,
+	ADIS16475_SCAN_DELTVEL_Y,
+	ADIS16475_SCAN_DELTVEL_Z,
 };
 
 static bool low_rate_allow;
@@ -451,6 +470,14 @@ static int adis16475_read_raw(struct iio_dev *indio_dev,
 		case IIO_TEMP:
 			*val = st->info->temp_scale;
 			return IIO_VAL_INT;
+		case IIO_DELTA_ANGL:
+			*val = st->info->deltang_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
+		case IIO_DELTA_VELOCITY:
+			*val = st->info->deltvel_max_val;
+			*val2 = 31;
+			return IIO_VAL_FRACTIONAL_LOG2;
 		default:
 			return -EINVAL;
 		}
@@ -551,6 +578,57 @@ static int adis16475_write_raw(struct iio_dev *indio_dev,
 		}, \
 	}
 
+#define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _si, _r_bits, _s_bits) { \
+		.type = (_type), \
+		.modified = 1, \
+		.channel2 = (_mod), \
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
+		.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
+		.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \
+			BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
+		.address = (_address), \
+		.scan_index = _si, \
+		.scan_type = { \
+			.sign = 's', \
+			.realbits = (_r_bits), \
+			.storagebits = (_s_bits), \
+			.endianness = IIO_BE, \
+		}, \
+	}
+
+#define ADIS16475_DELTANG_CHAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTANG_L, ADIS16475_SCAN_DELTANG_ ## _mod, 32, 32)
+
+#define ADIS16475_DELTVEL_CHAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTVEL_L, ADIS16475_SCAN_DELTVEL_ ## _mod, 32, 32)
+
+#define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_ANGL, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTANG_L, -1, 32, 32)
+
+#define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) \
+	ADIS16475_MOD_CHAN_DELTA(IIO_DELTA_VELOCITY, IIO_MOD_ ## _mod, \
+			   ADIS16475_REG_ ## _mod ## _DELTVEL_L, -1, 32, 32)
+
+static const struct iio_chan_spec adis16477_channels[] = {
+	ADIS16475_GYRO_CHANNEL(X),
+	ADIS16475_GYRO_CHANNEL(Y),
+	ADIS16475_GYRO_CHANNEL(Z),
+	ADIS16475_ACCEL_CHANNEL(X),
+	ADIS16475_ACCEL_CHANNEL(Y),
+	ADIS16475_ACCEL_CHANNEL(Z),
+	ADIS16475_TEMP_CHANNEL(),
+	ADIS16475_DELTANG_CHAN(X),
+	ADIS16475_DELTANG_CHAN(Y),
+	ADIS16475_DELTANG_CHAN(Z),
+	ADIS16475_DELTVEL_CHAN(X),
+	ADIS16475_DELTVEL_CHAN(Y),
+	ADIS16475_DELTVEL_CHAN(Z),
+	IIO_CHAN_SOFT_TIMESTAMP(13)
+};
+
 static const struct iio_chan_spec adis16475_channels[] = {
 	ADIS16475_GYRO_CHANNEL(X),
 	ADIS16475_GYRO_CHANNEL(Y),
@@ -559,6 +637,12 @@ static const struct iio_chan_spec adis16475_channels[] = {
 	ADIS16475_ACCEL_CHANNEL(Y),
 	ADIS16475_ACCEL_CHANNEL(Z),
 	ADIS16475_TEMP_CHANNEL(),
+	ADIS16475_DELTANG_CHAN_NO_SCAN(X),
+	ADIS16475_DELTANG_CHAN_NO_SCAN(Y),
+	ADIS16475_DELTANG_CHAN_NO_SCAN(Z),
+	ADIS16475_DELTVEL_CHAN_NO_SCAN(X),
+	ADIS16475_DELTVEL_CHAN_NO_SCAN(Y),
+	ADIS16475_DELTVEL_CHAN_NO_SCAN(Z),
 	IIO_CHAN_SOFT_TIMESTAMP(7)
 };
 
@@ -662,6 +746,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -677,6 +763,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -692,6 +780,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -707,6 +797,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -715,50 +807,56 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16477_1] = {
 		.name = "adis16477-1",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16477_2] = {
 		.name = "adis16477-2",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16477_3] = {
 		.name = "adis16477-3",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16465_1] = {
@@ -770,6 +868,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -785,6 +885,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -800,6 +902,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(4000 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -815,6 +919,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -830,6 +936,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -845,6 +953,8 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.accel_max_val = 1,
 		.accel_max_scale = IIO_M_S_2_TO_G(800 << 16),
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
@@ -853,129 +963,168 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 	},
 	[ADIS16500] = {
 		.name = "adis16500",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts),
 	},
 	[ADIS16505_1] = {
 		.name = "adis16505-1",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
 	},
 	[ADIS16505_2] = {
 		.name = "adis16505-2",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
 	},
 	[ADIS16505_3] = {
 		.name = "adis16505-3",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 78,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 100,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts),
 	},
 	[ADIS16507_1] = {
 		.name = "adis16507-1",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16),
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(360),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
 	},
 	[ADIS16507_2] = {
 		.name = "adis16507-2",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(720),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
 	},
 	[ADIS16507_3] = {
 		.name = "adis16507-3",
-		.num_channels = ARRAY_SIZE(adis16475_channels),
-		.channels = adis16475_channels,
+		.num_channels = ARRAY_SIZE(adis16477_channels),
+		.channels = adis16477_channels,
 		.gyro_max_val = 1,
 		.gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
 		.accel_max_val = 392,
 		.accel_max_scale = 32000 << 16,
 		.temp_scale = 100,
+		.deltang_max_val = IIO_DEGREE_TO_RAD(2160),
+		.deltvel_max_val = 400,
 		.int_clk = 2000,
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		/* pulse sync not supported */
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
-		.has_burst32 = true,
+		.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
 		.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts),
 	},
 };
 
+static int adis16475_update_scan_mode(struct iio_dev *indio_dev,
+				      const unsigned long *scan_mask)
+{
+	u16 en;
+	int ret;
+	struct adis16475 *st = iio_priv(indio_dev);
+
+	if (st->info->flags & ADIS16475_HAS_BURST_DELTA_DATA) {
+		if ((*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK) &&
+		    (*scan_mask & ADIS16500_BURST_DATA_SEL_1_CHN_MASK))
+			return -EINVAL;
+		if (*scan_mask & ADIS16500_BURST_DATA_SEL_0_CHN_MASK)
+			en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 0);
+		else
+			en = FIELD_PREP(ADIS16500_BURST_DATA_SEL_MASK, 1);
+
+		ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
+					 ADIS16500_BURST_DATA_SEL_MASK, en);
+		if (ret)
+			return ret;
+	}
+
+	return adis_update_scan_mode(indio_dev, scan_mask);
+}
+
 static const struct iio_info adis16475_info = {
 	.read_raw = &adis16475_read_raw,
 	.write_raw = &adis16475_write_raw,
-	.update_scan_mode = adis_update_scan_mode,
+	.update_scan_mode = adis16475_update_scan_mode,
 	.debugfs_reg_access = adis_debugfs_reg_access,
 };
 
@@ -998,7 +1147,7 @@ static void adis16475_burst32_check(struct adis16475 *st)
 	int ret;
 	struct adis *adis = &st->adis;
 
-	if (!st->info->has_burst32)
+	if (!(st->info->flags & ADIS16475_HAS_BURST32))
 		return;
 
 	if (st->lsb_flag && !st->burst32) {
@@ -1044,7 +1193,7 @@ static irqreturn_t adis16475_trigger_handler(int irq, void *p)
 	struct iio_dev *indio_dev = pf->indio_dev;
 	struct adis16475 *st = iio_priv(indio_dev);
 	struct adis *adis = &st->adis;
-	int ret, bit, i = 0;
+	int ret, bit, buff_offset = 0, i = 0;
 	__be16 *buffer;
 	u16 crc;
 	bool valid;
@@ -1073,7 +1222,20 @@ static irqreturn_t adis16475_trigger_handler(int irq, void *p)
 		switch (bit) {
 		case ADIS16475_SCAN_TEMP:
 			st->data[i++] = buffer[offset];
+			/*
+			 * The temperature channel has 16-bit storage size.
+			 * We need to perform the padding to have the buffer
+			 * elements naturally aligned in case there are any
+			 * 32-bit storage size channels enabled which have a
+			 * scan index higher than the temperature channel scan
+			 * index.
+			 */
+			if (*indio_dev->active_scan_mask & GENMASK(ADIS16475_SCAN_DELTVEL_Z, ADIS16475_SCAN_DELTANG_X))
+				st->data[i++] = 0;
 			break;
+		case ADIS16475_SCAN_DELTANG_X ... ADIS16475_SCAN_DELTVEL_Z:
+			buff_offset = ADIS16475_SCAN_DELTANG_X;
+			fallthrough;
 		case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z:
 			/*
 			 * The first 2 bytes on the received data are the
@@ -1081,18 +1243,18 @@ static irqreturn_t adis16475_trigger_handler(int irq, void *p)
 			 */
 			if (st->burst32) {
 				/* upper 16 */
-				st->data[i++] = buffer[bit * 2 + 2];
+				st->data[i++] = buffer[(bit - buff_offset) * 2 + 2];
 				/* lower 16 */
-				st->data[i++] = buffer[bit * 2 + 1];
+				st->data[i++] = buffer[(bit - buff_offset) * 2 + 1];
 			} else {
-				st->data[i++] = buffer[bit + 1];
+				st->data[i++] = buffer[(bit - buff_offset) + 1];
 				/*
 				 * Don't bother in doing the manual read if the
 				 * device supports burst32. burst32 will be
 				 * enabled in the next call to
 				 * adis16475_burst32_check()...
 				 */
-				if (st->lsb_flag && !st->info->has_burst32) {
+				if (st->lsb_flag && !(st->info->flags & ADIS16475_HAS_BURST32)) {
 					u16 val = 0;
 					const u32 reg = ADIS16475_REG_X_GYRO_L +
 						bit * 4;
diff --git a/drivers/iio/imu/bno055/Kconfig b/drivers/iio/imu/bno055/Kconfig
index 83e53acfbe..c7f5866a17 100644
--- a/drivers/iio/imu/bno055/Kconfig
+++ b/drivers/iio/imu/bno055/Kconfig
@@ -8,6 +8,7 @@ config BOSCH_BNO055
 config BOSCH_BNO055_SERIAL
 	tristate "Bosch BNO055 attached via UART"
 	depends on SERIAL_DEV_BUS
+	select REGMAP
 	select BOSCH_BNO055
 	help
 	  Enable this to support Bosch BNO055 IMUs attached via UART.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
index 7327e5723f..8a7f291190 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_aux.c
@@ -71,6 +71,19 @@ int inv_mpu_aux_init(const struct inv_mpu6050_state *st)
 	unsigned int val;
 	int ret;
 
+	/*
+	 * Code based on the vendor Linux kernel v3.0,
+	 * the exact meaning is unknown.
+	 */
+	if (st->chip_type == INV_MPU9150) {
+		unsigned int mask = BIT(7);
+
+		val = st->level_shifter ? mask : 0;
+		ret = regmap_update_bits(st->map, 0x1, mask, val);
+		if (ret)
+			return ret;
+	}
+
 	/* configure i2c master */
 	val = INV_MPU6050_BITS_I2C_MST_CLK_400KHZ |
 			INV_MPU6050_BIT_WAIT_FOR_ES;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index a9a5fb266e..6b034dccc3 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -17,6 +17,7 @@
 #include <linux/regulator/consumer.h>
 #include <linux/pm.h>
 #include <linux/pm_runtime.h>
+#include <linux/property.h>
 
 #include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
@@ -1495,6 +1496,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 	st->irq = irq;
 	st->map = regmap;
 
+	st->level_shifter = device_property_read_bool(dev,
+						      "invensense,level-shifter");
 	pdata = dev_get_platdata(dev);
 	if (!pdata) {
 		result = iio_read_mount_matrix(dev, &st->orientation);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index ed5a96e78d..5950e2419e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -203,6 +203,7 @@ struct inv_mpu6050_state {
 	s32 magn_raw_to_gauss[3];
 	struct iio_mount_matrix magn_orient;
 	unsigned int suspended_sensors;
+	bool level_shifter;
 	u8 *data;
 };
 
@@ -464,7 +465,6 @@ int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type);
 int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable);
 int inv_mpu6050_switch_engine(struct inv_mpu6050_state *st, bool en,
 			      unsigned int mask);
-int inv_mpu6050_write_reg(struct inv_mpu6050_state *st, int reg, u8 val);
 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,