From: Han Xu <han.xu@nxp.com>

Add support for the Invensense IAM20380 sensor to the MPU6050 driver. It is
similar to the IAM20680. But IAM20380 only supports gyro and WHOAMI
register data is difference.

Signed-off-by: Han Xu <han.xu@nxp.com>
Signed-off-by: Frank Li <Frank.Li@nxp.com>
---
 drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 25 +++++++++++++++++++++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c  |  6 ++++++
 drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h  |  2 ++
 3 files changed, 33 insertions(+)

diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 40271352b02cf..f6e41ee14298a 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -140,6 +140,23 @@ static const struct inv_mpu6050_chip_config chip_config_6500 = {
 	.user_ctrl = 0,
 };
 
+static const struct inv_mpu6050_chip_config chip_config_6500_gyro = {
+	.clk = INV_CLK_PLL,
+	.fsr = INV_MPU6050_FSR_2000DPS,
+	.lpf = INV_MPU6050_FILTER_20HZ,
+	.divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+	.gyro_en = true,
+	.accl_en = false,
+	.temp_en = false,
+	.magn_en = false,
+	.gyro_fifo_enable = false,
+	.accl_fifo_enable = false,
+	.temp_fifo_enable = false,
+	.magn_fifo_enable = false,
+	.accl_fs = INV_MPU6050_FS_02G,
+	.user_ctrl = 0,
+};
+
 /* Indexed by enum inv_devices */
 static const struct inv_mpu6050_hw hw_info[] = {
 	{
@@ -277,6 +294,14 @@ static const struct inv_mpu6050_hw hw_info[] = {
 		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
 		.startup_time = {INV_ICM20690_GYRO_STARTUP_TIME, INV_ICM20690_ACCEL_STARTUP_TIME},
 	},
+	{	.whoami = INV_IAM20380_WHOAMI_VALUE,
+		.name = "IAM20380",
+		.reg = &reg_set_6500,
+		.config = &chip_config_6500_gyro,
+		.fifo_size = 512,
+		.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+		.startup_time = {INV_MPU6500_GYRO_STARTUP_TIME, INV_MPU6500_ACCEL_STARTUP_TIME},
+	},
 	{
 		.whoami = INV_IAM20680_WHOAMI_VALUE,
 		.name = "IAM20680",
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
index 7a5926ba6b97d..62f7d16c2ddcb 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c
@@ -34,6 +34,7 @@ static bool inv_mpu_i2c_aux_bus(struct device *dev)
 	case INV_ICM20689:
 	case INV_ICM20600:
 	case INV_ICM20602:
+	case INV_IAM20380:
 	case INV_IAM20680:
 		/* no i2c auxiliary bus on the chip */
 		return false;
@@ -187,6 +188,7 @@ static const struct i2c_device_id inv_mpu_id[] = {
 	{"icm20600", INV_ICM20600},
 	{"icm20602", INV_ICM20602},
 	{"icm20690", INV_ICM20690},
+	{"iam20380", INV_IAM20380},
 	{"iam20680", INV_IAM20680},
 	{"iam20680hp", INV_IAM20680HP},
 	{"iam20680ht", INV_IAM20680HT},
@@ -252,6 +254,10 @@ static const struct of_device_id inv_of_match[] = {
 		.compatible = "invensense,icm20690",
 		.data = (void *)INV_ICM20690
 	},
+	{
+		.compatible = "invensense,iam20380",
+		.data = (void *)INV_IAM20380
+	},
 	{
 		.compatible = "invensense,iam20680",
 		.data = (void *)INV_IAM20680
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index a6862cf426396..211901f8b8eb6 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -84,6 +84,7 @@ enum inv_devices {
 	INV_ICM20600,
 	INV_ICM20602,
 	INV_ICM20690,
+	INV_IAM20380,
 	INV_IAM20680,
 	INV_IAM20680HP,
 	INV_IAM20680HT,
@@ -425,6 +426,7 @@ struct inv_mpu6050_state {
 #define INV_ICM20600_WHOAMI_VALUE		0x11
 #define INV_ICM20602_WHOAMI_VALUE		0x12
 #define INV_ICM20690_WHOAMI_VALUE		0x20
+#define INV_IAM20380_WHOAMI_VALUE		0xB5
 #define INV_IAM20680_WHOAMI_VALUE		0xA9
 #define INV_IAM20680HP_WHOAMI_VALUE		0xF8
 #define INV_IAM20680HT_WHOAMI_VALUE		0xFA

-- 
2.34.1