Merge tag 'iio-for-5.2b' of git://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio into staging-next

Jonathan writes:

Second set of IIO new device support, features and cleanup for the 5.2 cycle.

New device suport
* ad7606
  - Support the AD7616 16 channel, 12bit ADC.
* fxas21002c
  - New driver for this gyroscope with I2C and SPI support.
* lsm6dsx
  - Support the lsm6dsr, new device information structure and dt bindings.
* srf04
  - Addition device IDs for mb1000, mb1010, mb1020, mb1030 and mb1040 +
    support of different required trigger pulse lengths.
* st-accel
  - Support the ls2de12, new device info and dt bindings.
* ti-ads8344
  - New driver for this 8 channel, 16 bit SPI ADC.

Binding conversions to yaml - we have started doing these in general for IIO.
* avia-hx711
* bmp085

Cleanups and minor fixes / additions
* ad5758
  - Fixup for some changes between preproduction parts and final part.
* ad7606
  - Refactor handling of oversampling to make it easy to vary between
    supported devices.
* ad9832
  - Organise includes.
  - Clock framework to handle clocks.
* ad9834
  - Drop unnecessary parenthesis.
* bmc150
  - Use __func__ rather than hardcoding.
* dummy_evgen.
  - Fix a memleak on error in probe.
* kxcjk1013
  - Add KXCJ91008 ACPI ID as seen in the wild.
  - Use __func__ rather than hardcoding.
* imx7d
  - Local dev variable to simplify code a bit.
  - dev_err replaces pr_err to give more info.
  - devm_platform_ioremap_resource for small reduction in boilerplate.
  - Simplify probe and remove by sharing suspend / resume logic.
  - Devm for iio_device_register as remove only contains the unregister.
* lsm6dsx
  - Remove a variable that was never read.
  - Open code values where they are effectively described by what is assigned
    to them rather than using uninformative defines.
* max31856
  - Avoid an unintialized ret variable in a path that can't actually occur
    but is hard for a static checker to know.
* max9611
  - White space
* mpu3050
  - Reduce a sleep worst case by switching from msleep to usleep_range.
* qcom-spmi-adc5
  - Add MODULE_DEVICE_TABLE to assist autoloading of this as a module.
* stm32-dfsdm
  - Fix missing dependencies.
* stm32-timer trigger
  - Fix a build issue when disabled.
* ti-ads7950
  - Fix mising dependency on CONFIG_GPIOLIB.

* tag 'iio-for-5.2b' of git://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio: (42 commits)
  iio: adc: qcom-spmi-adc5: Fix of-based module autoloading
  iio: dummy_evgen: fix possible memleak in evgen init
  iio:accel:Switch hardcoded function name with a reference to __func__ making the code more maintainable
  iio: adc: stm32-dfsdm: fix triggered buffer build dependency
  iio: adc: stm32-dfsdm: fix unmet direct dependencies detected
  iio: trigger: stm32-timer: fix build issue when disabled
  iio: imx7d_adc: Use devm_iio_device_register()
  iio: imx7d_adc: Simplify imx7d_adc_remove() with imx7d_adc_suspend()
  iio: imx7d_adc: Simplify imx7d_adc_probe() with imx7d_adc_resume()
  drivers/iio/gyro/mpu3050-core.c: This patch fix the following checkpatch warning.
  iio: dac: ad5758: Modifications for new revision
  iio: imu: st_lsm6dsx: inline per-sensor data
  iio: adc: Add driver for the TI ADS8344 A/DC chips
  dt-bindings: iio: adc: Add bindings for TI ADS8344 A/DC chips
  MAINTAINERS: add entry for fxas21002c gyro driver
  iio: gyro: fxas21002c: add spi driver
  iio: gyro: fxas21002c: add i2c driver
  iio: gyro: add core driver for fxas21002c
  iio: gyro: add DT bindings to fxas21002c
  Kconfig: change configuration of srf04 ultrasonic iio sensor
  ...

7 files changed, 1319 insertions, 1 deletions

diff --git a/drivers/iio/gyro/Kconfig b/drivers/iio/gyro/Kconfig
index 3126cf05e6b9..61c00cee037d 100644
--- a/drivers/iio/gyro/Kconfig
+++ b/drivers/iio/gyro/Kconfig
@@ -73,6 +73,28 @@ config BMG160_SPI
 	tristate
 	select REGMAP_SPI
 
+config FXAS21002C
+       tristate "NXP FXAS21002C Gyro Sensor"
+       select IIO_BUFFER
+       select IIO_TRIGGERED_BUFFER
+       select FXAS21002C_I2C if (I2C)
+       select FXAS21002C_SPI if (SPI)
+       depends on (I2C || SPI_MASTER)
+       help
+         Say yes here to build support for NXP FXAS21002C Tri-axis Gyro
+         Sensor driver connected via I2C or SPI.
+
+         This driver can also be built as a module.  If so, the module
+         will be called fxas21002c_i2c or fxas21002c_spi.
+
+config FXAS21002C_I2C
+       tristate
+       select REGMAP_I2C
+
+config FXAS21002C_SPI
+       tristate
+       select REGMAP_SPI
+
 config HID_SENSOR_GYRO_3D
 	depends on HID_SENSOR_HUB
 	select IIO_BUFFER
diff --git a/drivers/iio/gyro/Makefile b/drivers/iio/gyro/Makefile
index 295ec780c4eb..45cbd5dc644e 100644
--- a/drivers/iio/gyro/Makefile
+++ b/drivers/iio/gyro/Makefile
@@ -12,6 +12,9 @@ obj-$(CONFIG_ADXRS450) += adxrs450.o
 obj-$(CONFIG_BMG160) += bmg160_core.o
 obj-$(CONFIG_BMG160_I2C) += bmg160_i2c.o
 obj-$(CONFIG_BMG160_SPI) += bmg160_spi.o
+obj-$(CONFIG_FXAS21002C) += fxas21002c_core.o
+obj-$(CONFIG_FXAS21002C_I2C) += fxas21002c_i2c.o
+obj-$(CONFIG_FXAS21002C_SPI) += fxas21002c_spi.o
 
 obj-$(CONFIG_HID_SENSOR_GYRO_3D) += hid-sensor-gyro-3d.o
 
diff --git a/drivers/iio/gyro/fxas21002c.h b/drivers/iio/gyro/fxas21002c.h
new file mode 100644
index 000000000000..566d92de2676
--- /dev/null
+++ b/drivers/iio/gyro/fxas21002c.h
@@ -0,0 +1,150 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Driver for NXP FXAS21002C Gyroscope - Header
+ *
+ * Copyright (C) 2019 Linaro Ltd.
+ */
+
+#ifndef FXAS21002C_H_
+#define FXAS21002C_H_
+
+#include <linux/regmap.h>
+
+#define FXAS21002C_REG_STATUS		0x00
+#define FXAS21002C_REG_OUT_X_MSB	0x01
+#define FXAS21002C_REG_OUT_X_LSB	0x02
+#define FXAS21002C_REG_OUT_Y_MSB	0x03
+#define FXAS21002C_REG_OUT_Y_LSB	0x04
+#define FXAS21002C_REG_OUT_Z_MSB	0x05
+#define FXAS21002C_REG_OUT_Z_LSB	0x06
+#define FXAS21002C_REG_DR_STATUS	0x07
+#define FXAS21002C_REG_F_STATUS		0x08
+#define FXAS21002C_REG_F_SETUP		0x09
+#define FXAS21002C_REG_F_EVENT		0x0A
+#define FXAS21002C_REG_INT_SRC_FLAG	0x0B
+#define FXAS21002C_REG_WHO_AM_I		0x0C
+#define FXAS21002C_REG_CTRL0		0x0D
+#define FXAS21002C_REG_RT_CFG		0x0E
+#define FXAS21002C_REG_RT_SRC		0x0F
+#define FXAS21002C_REG_RT_THS		0x10
+#define FXAS21002C_REG_RT_COUNT		0x11
+#define FXAS21002C_REG_TEMP		0x12
+#define FXAS21002C_REG_CTRL1		0x13
+#define FXAS21002C_REG_CTRL2		0x14
+#define FXAS21002C_REG_CTRL3		0x15
+
+enum fxas21002c_fields {
+	F_DR_STATUS,
+	F_OUT_X_MSB,
+	F_OUT_X_LSB,
+	F_OUT_Y_MSB,
+	F_OUT_Y_LSB,
+	F_OUT_Z_MSB,
+	F_OUT_Z_LSB,
+	/* DR_STATUS */
+	F_ZYX_OW, F_Z_OW, F_Y_OW, F_X_OW, F_ZYX_DR, F_Z_DR, F_Y_DR, F_X_DR,
+	/* F_STATUS */
+	F_OVF, F_WMKF, F_CNT,
+	/* F_SETUP */
+	F_MODE, F_WMRK,
+	/* F_EVENT */
+	F_EVENT, FE_TIME,
+	/* INT_SOURCE_FLAG */
+	F_BOOTEND, F_SRC_FIFO, F_SRC_RT, F_SRC_DRDY,
+	/* WHO_AM_I */
+	F_WHO_AM_I,
+	/* CTRL_REG0 */
+	F_BW, F_SPIW, F_SEL, F_HPF_EN, F_FS,
+	/* RT_CFG */
+	F_ELE, F_ZTEFE, F_YTEFE, F_XTEFE,
+	/* RT_SRC */
+	F_EA, F_ZRT, F_ZRT_POL, F_YRT, F_YRT_POL, F_XRT, F_XRT_POL,
+	/* RT_THS */
+	F_DBCNTM, F_THS,
+	/* RT_COUNT */
+	F_RT_COUNT,
+	/* TEMP */
+	F_TEMP,
+	/* CTRL_REG1 */
+	F_RST, F_ST, F_DR, F_ACTIVE, F_READY,
+	/* CTRL_REG2 */
+	F_INT_CFG_FIFO, F_INT_EN_FIFO, F_INT_CFG_RT, F_INT_EN_RT,
+	F_INT_CFG_DRDY, F_INT_EN_DRDY, F_IPOL, F_PP_OD,
+	/* CTRL_REG3 */
+	F_WRAPTOONE, F_EXTCTRLEN, F_FS_DOUBLE,
+	/* MAX FIELDS */
+	F_MAX_FIELDS,
+};
+
+static const struct reg_field fxas21002c_reg_fields[] = {
+	[F_DR_STATUS]		= REG_FIELD(FXAS21002C_REG_STATUS, 0, 7),
+	[F_OUT_X_MSB]		= REG_FIELD(FXAS21002C_REG_OUT_X_MSB, 0, 7),
+	[F_OUT_X_LSB]		= REG_FIELD(FXAS21002C_REG_OUT_X_LSB, 0, 7),
+	[F_OUT_Y_MSB]		= REG_FIELD(FXAS21002C_REG_OUT_Y_MSB, 0, 7),
+	[F_OUT_Y_LSB]		= REG_FIELD(FXAS21002C_REG_OUT_Y_LSB, 0, 7),
+	[F_OUT_Z_MSB]		= REG_FIELD(FXAS21002C_REG_OUT_Z_MSB, 0, 7),
+	[F_OUT_Z_LSB]		= REG_FIELD(FXAS21002C_REG_OUT_Z_LSB, 0, 7),
+	[F_ZYX_OW]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 7, 7),
+	[F_Z_OW]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 6, 6),
+	[F_Y_OW]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 5, 5),
+	[F_X_OW]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 4, 4),
+	[F_ZYX_DR]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 3, 3),
+	[F_Z_DR]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 2, 2),
+	[F_Y_DR]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 1, 1),
+	[F_X_DR]		= REG_FIELD(FXAS21002C_REG_DR_STATUS, 0, 0),
+	[F_OVF]			= REG_FIELD(FXAS21002C_REG_F_STATUS, 7, 7),
+	[F_WMKF]		= REG_FIELD(FXAS21002C_REG_F_STATUS, 6, 6),
+	[F_CNT]			= REG_FIELD(FXAS21002C_REG_F_STATUS, 0, 5),
+	[F_MODE]		= REG_FIELD(FXAS21002C_REG_F_SETUP, 6, 7),
+	[F_WMRK]		= REG_FIELD(FXAS21002C_REG_F_SETUP, 0, 5),
+	[F_EVENT]		= REG_FIELD(FXAS21002C_REG_F_EVENT, 5, 5),
+	[FE_TIME]		= REG_FIELD(FXAS21002C_REG_F_EVENT, 0, 4),
+	[F_BOOTEND]		= REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 3, 3),
+	[F_SRC_FIFO]		= REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 2, 2),
+	[F_SRC_RT]		= REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 1, 1),
+	[F_SRC_DRDY]		= REG_FIELD(FXAS21002C_REG_INT_SRC_FLAG, 0, 0),
+	[F_WHO_AM_I]		= REG_FIELD(FXAS21002C_REG_WHO_AM_I, 0, 7),
+	[F_BW]			= REG_FIELD(FXAS21002C_REG_CTRL0, 6, 7),
+	[F_SPIW]		= REG_FIELD(FXAS21002C_REG_CTRL0, 5, 5),
+	[F_SEL]			= REG_FIELD(FXAS21002C_REG_CTRL0, 3, 4),
+	[F_HPF_EN]		= REG_FIELD(FXAS21002C_REG_CTRL0, 2, 2),
+	[F_FS]			= REG_FIELD(FXAS21002C_REG_CTRL0, 0, 1),
+	[F_ELE]			= REG_FIELD(FXAS21002C_REG_RT_CFG, 3, 3),
+	[F_ZTEFE]		= REG_FIELD(FXAS21002C_REG_RT_CFG, 2, 2),
+	[F_YTEFE]		= REG_FIELD(FXAS21002C_REG_RT_CFG, 1, 1),
+	[F_XTEFE]		= REG_FIELD(FXAS21002C_REG_RT_CFG, 0, 0),
+	[F_EA]			= REG_FIELD(FXAS21002C_REG_RT_SRC, 6, 6),
+	[F_ZRT]			= REG_FIELD(FXAS21002C_REG_RT_SRC, 5, 5),
+	[F_ZRT_POL]		= REG_FIELD(FXAS21002C_REG_RT_SRC, 4, 4),
+	[F_YRT]			= REG_FIELD(FXAS21002C_REG_RT_SRC, 3, 3),
+	[F_YRT_POL]		= REG_FIELD(FXAS21002C_REG_RT_SRC, 2, 2),
+	[F_XRT]			= REG_FIELD(FXAS21002C_REG_RT_SRC, 1, 1),
+	[F_XRT_POL]		= REG_FIELD(FXAS21002C_REG_RT_SRC, 0, 0),
+	[F_DBCNTM]		= REG_FIELD(FXAS21002C_REG_RT_THS, 7, 7),
+	[F_THS]			= REG_FIELD(FXAS21002C_REG_RT_SRC, 0, 6),
+	[F_RT_COUNT]		= REG_FIELD(FXAS21002C_REG_RT_COUNT, 0, 7),
+	[F_TEMP]		= REG_FIELD(FXAS21002C_REG_TEMP, 0, 7),
+	[F_RST]			= REG_FIELD(FXAS21002C_REG_CTRL1, 6, 6),
+	[F_ST]			= REG_FIELD(FXAS21002C_REG_CTRL1, 5, 5),
+	[F_DR]			= REG_FIELD(FXAS21002C_REG_CTRL1, 2, 4),
+	[F_ACTIVE]		= REG_FIELD(FXAS21002C_REG_CTRL1, 1, 1),
+	[F_READY]		= REG_FIELD(FXAS21002C_REG_CTRL1, 0, 0),
+	[F_INT_CFG_FIFO]	= REG_FIELD(FXAS21002C_REG_CTRL2, 7, 7),
+	[F_INT_EN_FIFO]		= REG_FIELD(FXAS21002C_REG_CTRL2, 6, 6),
+	[F_INT_CFG_RT]		= REG_FIELD(FXAS21002C_REG_CTRL2, 5, 5),
+	[F_INT_EN_RT]		= REG_FIELD(FXAS21002C_REG_CTRL2, 4, 4),
+	[F_INT_CFG_DRDY]	= REG_FIELD(FXAS21002C_REG_CTRL2, 3, 3),
+	[F_INT_EN_DRDY]		= REG_FIELD(FXAS21002C_REG_CTRL2, 2, 2),
+	[F_IPOL]		= REG_FIELD(FXAS21002C_REG_CTRL2, 1, 1),
+	[F_PP_OD]		= REG_FIELD(FXAS21002C_REG_CTRL2, 0, 0),
+	[F_WRAPTOONE]		= REG_FIELD(FXAS21002C_REG_CTRL3, 3, 3),
+	[F_EXTCTRLEN]		= REG_FIELD(FXAS21002C_REG_CTRL3, 2, 2),
+	[F_FS_DOUBLE]		= REG_FIELD(FXAS21002C_REG_CTRL3, 0, 0),
+};
+
+extern const struct dev_pm_ops fxas21002c_pm_ops;
+
+int fxas21002c_core_probe(struct device *dev, struct regmap *regmap, int irq,
+			  const char *name);
+void fxas21002c_core_remove(struct device *dev);
+#endif
diff --git a/drivers/iio/gyro/fxas21002c_core.c b/drivers/iio/gyro/fxas21002c_core.c
new file mode 100644
index 000000000000..89d2bb2282ea
--- /dev/null
+++ b/drivers/iio/gyro/fxas21002c_core.c
@@ -0,0 +1,1004 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Driver for NXP FXAS21002C Gyroscope - Core
+ *
+ * Copyright (C) 2019 Linaro Ltd.
+ */
+
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/of_irq.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+
+#include <linux/iio/events.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#include "fxas21002c.h"
+
+#define FXAS21002C_CHIP_ID_1	0xD6
+#define FXAS21002C_CHIP_ID_2	0xD7
+
+enum fxas21002c_mode_state {
+	FXAS21002C_MODE_STANDBY,
+	FXAS21002C_MODE_READY,
+	FXAS21002C_MODE_ACTIVE,
+};
+
+#define FXAS21002C_STANDBY_ACTIVE_TIME_MS	62
+#define FXAS21002C_READY_ACTIVE_TIME_MS		7
+
+#define FXAS21002C_ODR_LIST_MAX		10
+
+#define FXAS21002C_SCALE_FRACTIONAL	32
+#define FXAS21002C_RANGE_LIMIT_DOUBLE	2000
+
+#define FXAS21002C_AXIS_TO_REG(axis) (FXAS21002C_REG_OUT_X_MSB + ((axis) * 2))
+
+static const int fxas21002c_odr_values[] = {
+	800, 400, 200, 100, 50, 25, 12, 12
+};
+
+/*
+ * These values are taken from the low-pass filter cutoff frequency calculated
+ * ODR * 0.lpf_values. So, for ODR = 800Hz with a lpf value = 0.32
+ * => LPF cutoff frequency = 800 * 0.32 = 256 Hz
+ */
+static const int fxas21002c_lpf_values[] = {
+	32, 16, 8
+};
+
+/*
+ * These values are taken from the high-pass filter cutoff frequency calculated
+ * ODR * 0.0hpf_values. So, for ODR = 800Hz with a hpf value = 0.018750
+ * => HPF cutoff frequency = 800 * 0.018750 = 15 Hz
+ */
+static const int fxas21002c_hpf_values[] = {
+	18750, 9625, 4875, 2475
+};
+
+static const int fxas21002c_range_values[] = {
+	4000, 2000, 1000, 500, 250
+};
+
+struct fxas21002c_data {
+	u8 chip_id;
+	enum fxas21002c_mode_state mode;
+	enum fxas21002c_mode_state prev_mode;
+
+	struct mutex lock;		/* serialize data access */
+	struct regmap *regmap;
+	struct regmap_field *regmap_fields[F_MAX_FIELDS];
+	struct iio_trigger *dready_trig;
+	s64 timestamp;
+	int irq;
+
+	struct regulator *vdd;
+	struct regulator *vddio;
+
+	/*
+	 * DMA (thus cache coherency maintenance) requires the
+	 * transfer buffers to live in their own cache lines.
+	 */
+	s16 buffer[8] ____cacheline_aligned;
+};
+
+enum fxas21002c_channel_index {
+	CHANNEL_SCAN_INDEX_X,
+	CHANNEL_SCAN_INDEX_Y,
+	CHANNEL_SCAN_INDEX_Z,
+	CHANNEL_SCAN_MAX,
+};
+
+static int fxas21002c_odr_hz_from_value(struct fxas21002c_data *data, u8 value)
+{
+	int odr_value_max = ARRAY_SIZE(fxas21002c_odr_values) - 1;
+
+	value = min_t(u8, value, odr_value_max);
+
+	return fxas21002c_odr_values[value];
+}
+
+static int fxas21002c_odr_value_from_hz(struct fxas21002c_data *data,
+					unsigned int hz)
+{
+	int odr_table_size = ARRAY_SIZE(fxas21002c_odr_values);
+	int i;
+
+	for (i = 0; i < odr_table_size; i++)
+		if (fxas21002c_odr_values[i] == hz)
+			return i;
+
+	return -EINVAL;
+}
+
+static int fxas21002c_lpf_bw_from_value(struct fxas21002c_data *data, u8 value)
+{
+	int lpf_value_max = ARRAY_SIZE(fxas21002c_lpf_values) - 1;
+
+	value = min_t(u8, value, lpf_value_max);
+
+	return fxas21002c_lpf_values[value];
+}
+
+static int fxas21002c_lpf_value_from_bw(struct fxas21002c_data *data,
+					unsigned int hz)
+{
+	int lpf_table_size = ARRAY_SIZE(fxas21002c_lpf_values);
+	int i;
+
+	for (i = 0; i < lpf_table_size; i++)
+		if (fxas21002c_lpf_values[i] == hz)
+			return i;
+
+	return -EINVAL;
+}
+
+static int fxas21002c_hpf_sel_from_value(struct fxas21002c_data *data, u8 value)
+{
+	int hpf_value_max = ARRAY_SIZE(fxas21002c_hpf_values) - 1;
+
+	value = min_t(u8, value, hpf_value_max);
+
+	return fxas21002c_hpf_values[value];
+}
+
+static int fxas21002c_hpf_value_from_sel(struct fxas21002c_data *data,
+					 unsigned int hz)
+{
+	int hpf_table_size = ARRAY_SIZE(fxas21002c_hpf_values);
+	int i;
+
+	for (i = 0; i < hpf_table_size; i++)
+		if (fxas21002c_hpf_values[i] == hz)
+			return i;
+
+	return -EINVAL;
+}
+
+static int fxas21002c_range_fs_from_value(struct fxas21002c_data *data,
+					  u8 value)
+{
+	int range_value_max = ARRAY_SIZE(fxas21002c_range_values) - 1;
+	unsigned int fs_double;
+	int ret;
+
+	/* We need to check if FS_DOUBLE is enabled to offset the value */
+	ret = regmap_field_read(data->regmap_fields[F_FS_DOUBLE], &fs_double);
+	if (ret < 0)
+		return ret;
+
+	if (!fs_double)
+		value += 1;
+
+	value = min_t(u8, value, range_value_max);
+
+	return fxas21002c_range_values[value];
+}
+
+static int fxas21002c_range_value_from_fs(struct fxas21002c_data *data,
+					  unsigned int range)
+{
+	int range_table_size = ARRAY_SIZE(fxas21002c_range_values);
+	bool found = false;
+	int fs_double = 0;
+	int ret;
+	int i;
+
+	for (i = 0; i < range_table_size; i++)
+		if (fxas21002c_range_values[i] == range) {
+			found = true;
+			break;
+		}
+
+	if (!found)
+		return -EINVAL;
+
+	if (range > FXAS21002C_RANGE_LIMIT_DOUBLE)
+		fs_double = 1;
+
+	ret = regmap_field_write(data->regmap_fields[F_FS_DOUBLE], fs_double);
+	if (ret < 0)
+		return ret;
+
+	return i;
+}
+
+static int fxas21002c_mode_get(struct fxas21002c_data *data)
+{
+	unsigned int active;
+	unsigned int ready;
+	int ret;
+
+	ret = regmap_field_read(data->regmap_fields[F_ACTIVE], &active);
+	if (ret < 0)
+		return ret;
+	if (active)
+		return FXAS21002C_MODE_ACTIVE;
+
+	ret = regmap_field_read(data->regmap_fields[F_READY], &ready);
+	if (ret < 0)
+		return ret;
+	if (ready)
+		return FXAS21002C_MODE_READY;
+
+	return FXAS21002C_MODE_STANDBY;
+}
+
+static int fxas21002c_mode_set(struct fxas21002c_data *data,
+			       enum fxas21002c_mode_state mode)
+{
+	int ret;
+
+	if (mode == data->mode)
+		return 0;
+
+	if (mode == FXAS21002C_MODE_READY)
+		ret = regmap_field_write(data->regmap_fields[F_READY], 1);
+	else
+		ret = regmap_field_write(data->regmap_fields[F_READY], 0);
+	if (ret < 0)
+		return ret;
+
+	if (mode == FXAS21002C_MODE_ACTIVE)
+		ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 1);
+	else
+		ret = regmap_field_write(data->regmap_fields[F_ACTIVE], 0);
+	if (ret < 0)
+		return ret;
+
+	/* if going to active wait the setup times */
+	if (mode == FXAS21002C_MODE_ACTIVE &&
+	    data->mode == FXAS21002C_MODE_STANDBY)
+		msleep_interruptible(FXAS21002C_STANDBY_ACTIVE_TIME_MS);
+
+	if (data->mode == FXAS21002C_MODE_READY)
+		msleep_interruptible(FXAS21002C_READY_ACTIVE_TIME_MS);
+
+	data->prev_mode = data->mode;
+	data->mode = mode;
+
+	return ret;
+}
+
+static int fxas21002c_write(struct fxas21002c_data *data,
+			    enum fxas21002c_fields field, int bits)
+{
+	int actual_mode;
+	int ret;
+
+	mutex_lock(&data->lock);
+
+	actual_mode = fxas21002c_mode_get(data);
+	if (actual_mode < 0) {
+		ret = actual_mode;
+		goto out_unlock;
+	}
+
+	ret = fxas21002c_mode_set(data, FXAS21002C_MODE_READY);
+	if (ret < 0)
+		goto out_unlock;
+
+	ret = regmap_field_write(data->regmap_fields[field], bits);
+	if (ret < 0)
+		goto out_unlock;
+
+	ret = fxas21002c_mode_set(data, data->prev_mode);
+
+out_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int  fxas21002c_pm_get(struct fxas21002c_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	int ret;
+
+	ret = pm_runtime_get_sync(dev);
+	if (ret < 0)
+		pm_runtime_put_noidle(dev);
+
+	return ret;
+}
+
+static int  fxas21002c_pm_put(struct fxas21002c_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+
+	pm_runtime_mark_last_busy(dev);
+
+	return pm_runtime_put_autosuspend(dev);
+}
+
+static int fxas21002c_temp_get(struct fxas21002c_data *data, int *val)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	unsigned int temp;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = fxas21002c_pm_get(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = regmap_field_read(data->regmap_fields[F_TEMP], &temp);
+	if (ret < 0) {
+		dev_err(dev, "failed to read temp: %d\n", ret);
+		goto data_unlock;
+	}
+
+	*val = sign_extend32(temp, 7);
+
+	ret = fxas21002c_pm_put(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = IIO_VAL_INT;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas21002c_axis_get(struct fxas21002c_data *data,
+			       int index, int *val)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	__be16 axis_be;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = fxas21002c_pm_get(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = regmap_bulk_read(data->regmap, FXAS21002C_AXIS_TO_REG(index),
+			       &axis_be, sizeof(axis_be));
+	if (ret < 0) {
+		dev_err(dev, "failed to read axis: %d: %d\n", index, ret);
+		goto data_unlock;
+	}
+
+	*val = sign_extend32(be16_to_cpu(axis_be), 15);
+
+	ret = fxas21002c_pm_put(data);
+	if (ret < 0)
+		goto data_unlock;
+
+	ret = IIO_VAL_INT;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas21002c_odr_get(struct fxas21002c_data *data, int *odr)
+{
+	unsigned int odr_bits;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_DR], &odr_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	*odr = fxas21002c_odr_hz_from_value(data, odr_bits);
+
+	ret = IIO_VAL_INT;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas21002c_odr_set(struct fxas21002c_data *data, int odr)
+{
+	int odr_bits;
+
+	odr_bits = fxas21002c_odr_value_from_hz(data, odr);
+	if (odr_bits < 0)
+		return odr_bits;
+
+	return fxas21002c_write(data, F_DR, odr_bits);
+}
+
+static int fxas21002c_lpf_get(struct fxas21002c_data *data, int *val2)
+{
+	unsigned int bw_bits;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_BW], &bw_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	*val2 = fxas21002c_lpf_bw_from_value(data, bw_bits) * 10000;
+
+	ret = IIO_VAL_INT_PLUS_MICRO;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas21002c_lpf_set(struct fxas21002c_data *data, int bw)
+{
+	int bw_bits;
+	int odr;
+	int ret;
+
+	bw_bits = fxas21002c_lpf_value_from_bw(data, bw);
+	if (bw_bits < 0)
+		return bw_bits;
+
+	/*
+	 * From table 33 of the device spec, for ODR = 25Hz and 12.5 value 0.08
+	 * is not allowed and for ODR = 12.5 value 0.16 is also not allowed
+	 */
+	ret = fxas21002c_odr_get(data, &odr);
+	if (ret < 0)
+		return -EINVAL;
+
+	if ((odr == 25 && bw_bits > 0x01) || (odr == 12 && bw_bits > 0))
+		return -EINVAL;
+
+	return fxas21002c_write(data, F_BW, bw_bits);
+}
+
+static int fxas21002c_hpf_get(struct fxas21002c_data *data, int *val2)
+{
+	unsigned int sel_bits;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_SEL], &sel_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	*val2 = fxas21002c_hpf_sel_from_value(data, sel_bits);
+
+	ret = IIO_VAL_INT_PLUS_MICRO;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas21002c_hpf_set(struct fxas21002c_data *data, int sel)
+{
+	int sel_bits;
+
+	sel_bits = fxas21002c_hpf_value_from_sel(data, sel);
+	if (sel_bits < 0)
+		return sel_bits;
+
+	return fxas21002c_write(data, F_SEL, sel_bits);
+}
+
+static int fxas21002c_scale_get(struct fxas21002c_data *data, int *val)
+{
+	int fs_bits;
+	int scale;
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_field_read(data->regmap_fields[F_FS], &fs_bits);
+	if (ret < 0)
+		goto data_unlock;
+
+	scale = fxas21002c_range_fs_from_value(data, fs_bits);
+	if (scale < 0) {
+		ret = scale;
+		goto data_unlock;
+	}
+
+	*val = scale;
+
+data_unlock:
+	mutex_unlock(&data->lock);
+
+	return ret;
+}
+
+static int fxas21002c_scale_set(struct fxas21002c_data *data, int range)
+{
+	int fs_bits;
+
+	fs_bits = fxas21002c_range_value_from_fs(data, range);
+	if (fs_bits < 0)
+		return fs_bits;
+
+	return fxas21002c_write(data, F_FS, fs_bits);
+}
+
+static int fxas21002c_read_raw(struct iio_dev *indio_dev,
+			       struct iio_chan_spec const *chan, int *val,
+			       int *val2, long mask)
+{
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+	int ret;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		switch (chan->type) {
+		case IIO_TEMP:
+			return fxas21002c_temp_get(data, val);
+		case IIO_ANGL_VEL:
+			return fxas21002c_axis_get(data, chan->scan_index, val);
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			*val2 = FXAS21002C_SCALE_FRACTIONAL;
+			ret = fxas21002c_scale_get(data, val);
+			if (ret < 0)
+				return ret;
+
+			return IIO_VAL_FRACTIONAL;
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		*val = 0;
+		return fxas21002c_lpf_get(data, val2);
+	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
+		*val = 0;
+		return fxas21002c_hpf_get(data, val2);
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		*val2 = 0;
+		return fxas21002c_odr_get(data, val);
+	default:
+		return -EINVAL;
+	}
+}
+
+static int fxas21002c_write_raw(struct iio_dev *indio_dev,
+				struct iio_chan_spec const *chan, int val,
+				int val2, long mask)
+{
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+	int range;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_SAMP_FREQ:
+		if (val2)
+			return -EINVAL;
+
+		return fxas21002c_odr_set(data, val);
+	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
+		if (val)
+			return -EINVAL;
+
+		val2 = val2 / 10000;
+		return fxas21002c_lpf_set(data, val2);
+	case IIO_CHAN_INFO_SCALE:
+		switch (chan->type) {
+		case IIO_ANGL_VEL:
+			range = (((val * 1000 + val2 / 1000) *
+				  FXAS21002C_SCALE_FRACTIONAL) / 1000);
+			return fxas21002c_scale_set(data, range);
+		default:
+			return -EINVAL;
+		}
+	case IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY:
+		return fxas21002c_hpf_set(data, val2);
+	default:
+		return -EINVAL;
+	}
+}
+
+static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("12.5 25 50 100 200 400 800");
+
+static IIO_CONST_ATTR(in_anglvel_filter_low_pass_3db_frequency_available,
+		      "0.32 0.16 0.08");
+
+static IIO_CONST_ATTR(in_anglvel_filter_high_pass_3db_frequency_available,
+		      "0.018750 0.009625 0.004875 0.002475");
+
+static IIO_CONST_ATTR(in_anglvel_scale_available,
+		      "125.0 62.5 31.25 15.625 7.8125");
+
+static struct attribute *fxas21002c_attributes[] = {
+	&iio_const_attr_sampling_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_filter_low_pass_3db_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_filter_high_pass_3db_frequency_available.dev_attr.attr,
+	&iio_const_attr_in_anglvel_scale_available.dev_attr.attr,
+	NULL,
+};
+
+static const struct attribute_group fxas21002c_attrs_group = {
+	.attrs = fxas21002c_attributes,
+};
+
+#define FXAS21002C_CHANNEL(_axis) {					\
+	.type = IIO_ANGL_VEL,						\
+	.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_LOW_PASS_FILTER_3DB_FREQUENCY) |	\
+		BIT(IIO_CHAN_INFO_HIGH_PASS_FILTER_3DB_FREQUENCY) |	\
+		BIT(IIO_CHAN_INFO_SAMP_FREQ),				\
+	.scan_index = CHANNEL_SCAN_INDEX_##_axis,			\
+	.scan_type = {							\
+		.sign = 's',						\
+		.realbits = 16,						\
+		.storagebits = 16,					\
+		.endianness = IIO_BE,					\
+	},								\
+}
+
+static const struct iio_chan_spec fxas21002c_channels[] = {
+	{
+		.type = IIO_TEMP,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
+		.scan_index = -1,
+	},
+	FXAS21002C_CHANNEL(X),
+	FXAS21002C_CHANNEL(Y),
+	FXAS21002C_CHANNEL(Z),
+};
+
+static const struct iio_info fxas21002c_info = {
+	.attrs			= &fxas21002c_attrs_group,
+	.read_raw		= &fxas21002c_read_raw,
+	.write_raw		= &fxas21002c_write_raw,
+};
+
+static irqreturn_t fxas21002c_trigger_handler(int irq, void *p)
+{
+	struct iio_poll_func *pf = p;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+	int ret;
+
+	mutex_lock(&data->lock);
+	ret = regmap_bulk_read(data->regmap, FXAS21002C_REG_OUT_X_MSB,
+			       data->buffer, CHANNEL_SCAN_MAX * sizeof(s16));
+	if (ret < 0)
+		goto out_unlock;
+
+	iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
+					   data->timestamp);
+
+out_unlock:
+	mutex_unlock(&data->lock);
+
+	iio_trigger_notify_done(indio_dev->trig);
+
+	return IRQ_HANDLED;
+}
+
+static int fxas21002c_chip_init(struct fxas21002c_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	unsigned int chip_id;
+	int ret;
+
+	ret = regmap_field_read(data->regmap_fields[F_WHO_AM_I], &chip_id);
+	if (ret < 0)
+		return ret;
+
+	if (chip_id != FXAS21002C_CHIP_ID_1 &&
+	    chip_id != FXAS21002C_CHIP_ID_2) {
+		dev_err(dev, "chip id 0x%02x is not supported\n", chip_id);
+		return -EINVAL;
+	}
+
+	data->chip_id = chip_id;
+
+	ret = fxas21002c_mode_set(data, FXAS21002C_MODE_STANDBY);
+	if (ret < 0)
+		return ret;
+
+	/* Set ODR to 200HZ as default */
+	ret = fxas21002c_odr_set(data, 200);
+	if (ret < 0)
+		dev_err(dev, "failed to set ODR: %d\n", ret);
+
+	return ret;
+}
+
+static int fxas21002c_data_rdy_trigger_set_state(struct iio_trigger *trig,
+						 bool state)
+{
+	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+
+	return regmap_field_write(data->regmap_fields[F_INT_EN_DRDY], state);
+}
+
+static const struct iio_trigger_ops fxas21002c_trigger_ops = {
+	.set_trigger_state = &fxas21002c_data_rdy_trigger_set_state,
+};
+
+static irqreturn_t fxas21002c_data_rdy_handler(int irq, void *private)
+{
+	struct iio_dev *indio_dev = private;
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+
+	data->timestamp = iio_get_time_ns(indio_dev);
+
+	return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t fxas21002c_data_rdy_thread(int irq, void *private)
+{
+	struct iio_dev *indio_dev = private;
+	struct fxas21002c_data *data = iio_priv(indio_dev);
+	unsigned int data_ready;
+	int ret;
+
+	ret = regmap_field_read(data->regmap_fields[F_SRC_DRDY], &data_ready);
+	if (ret < 0)
+		return IRQ_NONE;
+
+	if (!data_ready)
+		return IRQ_NONE;
+
+	iio_trigger_poll_chained(data->dready_trig);
+
+	return IRQ_HANDLED;
+}
+
+static int fxas21002c_trigger_probe(struct fxas21002c_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+	struct device_node *np = indio_dev->dev.of_node;
+	unsigned long irq_trig;
+	bool irq_open_drain;
+	int irq1;
+	int ret;
+
+	if (!data->irq)
+		return 0;
+
+	irq1 = of_irq_get_byname(np, "INT1");
+
+	if (irq1 == data->irq) {
+		dev_info(dev, "using interrupt line INT1\n");
+		ret = regmap_field_write(data->regmap_fields[F_INT_CFG_DRDY],
+					 1);
+		if (ret < 0)
+			return ret;
+	}
+
+	dev_info(dev, "using interrupt line INT2\n");
+
+	irq_open_drain = of_property_read_bool(np, "drive-open-drain");
+
+	data->dready_trig = devm_iio_trigger_alloc(dev, "%s-dev%d",
+						   indio_dev->name,
+						   indio_dev->id);
+	if (!data->dready_trig)
+		return -ENOMEM;
+
+	irq_trig = irqd_get_trigger_type(irq_get_irq_data(data->irq));
+
+	if (irq_trig == IRQF_TRIGGER_RISING) {
+		ret = regmap_field_write(data->regmap_fields[F_IPOL], 1);
+		if (ret < 0)
+			return ret;
+	}
+
+	if (irq_open_drain)
+		irq_trig |= IRQF_SHARED;
+
+	ret = devm_request_threaded_irq(dev, data->irq,
+					fxas21002c_data_rdy_handler,
+					fxas21002c_data_rdy_thread,
+					irq_trig, "fxas21002c_data_ready",
+					indio_dev);
+	if (ret < 0)
+		return ret;
+
+	data->dready_trig->dev.parent = dev;
+	data->dready_trig->ops = &fxas21002c_trigger_ops;
+	iio_trigger_set_drvdata(data->dready_trig, indio_dev);
+
+	return devm_iio_trigger_register(dev, data->dready_trig);
+}
+
+static int fxas21002c_power_enable(struct fxas21002c_data *data)
+{
+	int ret;
+
+	ret = regulator_enable(data->vdd);
+	if (ret < 0)
+		return ret;
+
+	ret = regulator_enable(data->vddio);
+	if (ret < 0) {
+		regulator_disable(data->vdd);
+		return ret;
+	}
+
+	return 0;
+}
+
+static void fxas21002c_power_disable(struct fxas21002c_data *data)
+{
+	regulator_disable(data->vdd);
+	regulator_disable(data->vddio);
+}
+
+static void fxas21002c_power_disable_action(void *_data)
+{
+	struct fxas21002c_data *data = _data;
+
+	fxas21002c_power_disable(data);
+}
+
+static int fxas21002c_regulators_get(struct fxas21002c_data *data)
+{
+	struct device *dev = regmap_get_device(data->regmap);
+
+	data->vdd = devm_regulator_get(dev->parent, "vdd");
+	if (IS_ERR(data->vdd))
+		return PTR_ERR(data->vdd);
+
+	data->vddio = devm_regulator_get(dev->parent, "vddio");
+
+	return PTR_ERR_OR_ZERO(data->vddio);
+}
+
+int fxas21002c_core_probe(struct device *dev, struct regmap *regmap, int irq,
+			  const char *name)
+{
+	struct fxas21002c_data *data;
+	struct iio_dev *indio_dev;
+	struct regmap_field *f;
+	int i;
+	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->irq = irq;
+	data->regmap = regmap;
+
+	for (i = 0; i < F_MAX_FIELDS; i++) {
+		f = devm_regmap_field_alloc(dev, data->regmap,
+					    fxas21002c_reg_fields[i]);
+		if (IS_ERR(f))
+			return PTR_ERR(f);
+
+		data->regmap_fields[i] = f;
+	}
+
+	mutex_init(&data->lock);
+
+	ret = fxas21002c_regulators_get(data);
+	if (ret < 0)
+		return ret;
+
+	ret = fxas21002c_power_enable(data);
+	if (ret < 0)
+		return ret;
+
+	ret = devm_add_action_or_reset(dev, fxas21002c_power_disable_action,
+				       data);
+	if (ret < 0)
+		return ret;
+
+	ret = fxas21002c_chip_init(data);
+	if (ret < 0)
+		return ret;
+
+	indio_dev->dev.parent = dev;
+	indio_dev->channels = fxas21002c_channels;
+	indio_dev->num_channels = ARRAY_SIZE(fxas21002c_channels);
+	indio_dev->name = name;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &fxas21002c_info;
+
+	ret = fxas21002c_trigger_probe(data);
+	if (ret < 0)
+		return ret;
+
+	ret = devm_iio_triggered_buffer_setup(dev, indio_dev, NULL,
+					      fxas21002c_trigger_handler, NULL);
+	if (ret < 0)
+		return ret;
+
+	ret = pm_runtime_set_active(dev);
+	if (ret)
+		return ret;
+
+	pm_runtime_enable(dev);
+	pm_runtime_set_autosuspend_delay(dev, 2000);
+	pm_runtime_use_autosuspend(dev);
+
+	ret = iio_device_register(indio_dev);
+	if (ret < 0)
+		goto pm_disable;
+
+	return 0;
+
+pm_disable:
+	pm_runtime_disable(dev);
+	pm_runtime_set_suspended(dev);
+	pm_runtime_put_noidle(dev);
+
+	return ret;
+}
+EXPORT_SYMBOL_GPL(fxas21002c_core_probe);
+
+void fxas21002c_core_remove(struct device *dev)
+{
+	struct iio_dev *indio_dev = dev_get_drvdata(dev);
+
+	iio_device_unregister(indio_dev);
+
+	pm_runtime_disable(dev);
+	pm_runtime_set_suspended(dev);
+	pm_runtime_put_noidle(dev);
+}
+EXPORT_SYMBOL_GPL(fxas21002c_core_remove);
+
+static int __maybe_unused fxas21002c_suspend(struct device *dev)
+{
+	struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
+
+	fxas21002c_mode_set(data, FXAS21002C_MODE_STANDBY);
+	fxas21002c_power_disable(data);
+
+	return 0;
+}
+
+static int __maybe_unused fxas21002c_resume(struct device *dev)
+{
+	struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
+	int ret;
+
+	ret = fxas21002c_power_enable(data);
+	if (ret < 0)
+		return ret;
+
+	return fxas21002c_mode_set(data, data->prev_mode);
+}
+
+static int __maybe_unused fxas21002c_runtime_suspend(struct device *dev)
+{
+	struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
+
+	return fxas21002c_mode_set(data, FXAS21002C_MODE_READY);
+}
+
+static int __maybe_unused fxas21002c_runtime_resume(struct device *dev)
+{
+	struct fxas21002c_data *data = iio_priv(dev_get_drvdata(dev));
+
+	return fxas21002c_mode_set(data, FXAS21002C_MODE_ACTIVE);
+}
+
+const struct dev_pm_ops fxas21002c_pm_ops = {
+	SET_SYSTEM_SLEEP_PM_OPS(fxas21002c_suspend, fxas21002c_resume)
+	SET_RUNTIME_PM_OPS(fxas21002c_runtime_suspend,
+			   fxas21002c_runtime_resume, NULL)
+};
+EXPORT_SYMBOL_GPL(fxas21002c_pm_ops);
+
+MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("FXAS21002C Gyro driver");
diff --git a/drivers/iio/gyro/fxas21002c_i2c.c b/drivers/iio/gyro/fxas21002c_i2c.c
new file mode 100644
index 000000000000..a7807fd97483
--- /dev/null
+++ b/drivers/iio/gyro/fxas21002c_i2c.c
@@ -0,0 +1,69 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Driver for NXP FXAS21002C Gyroscope - I2C
+ *
+ * Copyright (C) 2018 Linaro Ltd.
+ */
+
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+
+#include "fxas21002c.h"
+
+static const struct regmap_config fxas21002c_regmap_i2c_conf = {
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = FXAS21002C_REG_CTRL3,
+};
+
+static int fxas21002c_i2c_probe(struct i2c_client *i2c)
+{
+	struct regmap *regmap;
+
+	regmap = devm_regmap_init_i2c(i2c, &fxas21002c_regmap_i2c_conf);
+	if (IS_ERR(regmap)) {
+		dev_err(&i2c->dev, "Failed to register i2c regmap: %ld\n",
+			PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	return fxas21002c_core_probe(&i2c->dev, regmap, i2c->irq, i2c->name);
+}
+
+static int fxas21002c_i2c_remove(struct i2c_client *i2c)
+{
+	fxas21002c_core_remove(&i2c->dev);
+
+	return 0;
+}
+
+static const struct i2c_device_id fxas21002c_i2c_id[] = {
+	{ "fxas21002c", 0 },
+	{ }
+};
+MODULE_DEVICE_TABLE(i2c, fxas21002c_i2c_id);
+
+static const struct of_device_id fxas21002c_i2c_of_match[] = {
+	{ .compatible = "nxp,fxas21002c", },
+	{ }
+};
+MODULE_DEVICE_TABLE(of, fxas21002c_i2c_of_match);
+
+static struct i2c_driver fxas21002c_i2c_driver = {
+	.driver = {
+		.name = "fxas21002c_i2c",
+		.pm = &fxas21002c_pm_ops,
+		.of_match_table = fxas21002c_i2c_of_match,
+	},
+	.probe_new	= fxas21002c_i2c_probe,
+	.remove		= fxas21002c_i2c_remove,
+	.id_table	= fxas21002c_i2c_id,
+};
+module_i2c_driver(fxas21002c_i2c_driver);
+
+MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("FXAS21002C I2C Gyro driver");
diff --git a/drivers/iio/gyro/fxas21002c_spi.c b/drivers/iio/gyro/fxas21002c_spi.c
new file mode 100644
index 000000000000..77ceebef4e34
--- /dev/null
+++ b/drivers/iio/gyro/fxas21002c_spi.c
@@ -0,0 +1,70 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Driver for NXP Fxas21002c Gyroscope - SPI
+ *
+ * Copyright (C) 2019 Linaro Ltd.
+ */
+
+#include <linux/err.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/spi/spi.h>
+
+#include "fxas21002c.h"
+
+static const struct regmap_config fxas21002c_regmap_spi_conf = {
+	.reg_bits = 8,
+	.val_bits = 8,
+	.max_register = FXAS21002C_REG_CTRL3,
+};
+
+static int fxas21002c_spi_probe(struct spi_device *spi)
+{
+	const struct spi_device_id *id = spi_get_device_id(spi);
+	struct regmap *regmap;
+
+	regmap = devm_regmap_init_spi(spi, &fxas21002c_regmap_spi_conf);
+	if (IS_ERR(regmap)) {
+		dev_err(&spi->dev, "Failed to register spi regmap: %ld\n",
+			PTR_ERR(regmap));
+		return PTR_ERR(regmap);
+	}
+
+	return fxas21002c_core_probe(&spi->dev, regmap, spi->irq, id->name);
+}
+
+static int fxas21002c_spi_remove(struct spi_device *spi)
+{
+	fxas21002c_core_remove(&spi->dev);
+
+	return 0;
+}
+
+static const struct spi_device_id fxas21002c_spi_id[] = {
+	{ "fxas21002c", 0 },
+	{ }
+};
+MODULE_DEVICE_TABLE(spi, fxas21002c_spi_id);
+
+static const struct of_device_id fxas21002c_spi_of_match[] = {
+	{ .compatible = "nxp,fxas21002c", },
+	{ }
+};
+MODULE_DEVICE_TABLE(of, fxas21002c_spi_of_match);
+
+static struct spi_driver fxas21002c_spi_driver = {
+	.driver = {
+		.name = "fxas21002c_spi",
+		.pm = &fxas21002c_pm_ops,
+		.of_match_table = fxas21002c_spi_of_match,
+	},
+	.probe		= fxas21002c_spi_probe,
+	.remove		= fxas21002c_spi_remove,
+	.id_table	= fxas21002c_spi_id,
+};
+module_spi_driver(fxas21002c_spi_driver);
+
+MODULE_AUTHOR("Rui Miguel Silva <rui.silva@linaro.org>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("FXAS21002C SPI Gyro driver");
diff --git a/drivers/iio/gyro/mpu3050-core.c b/drivers/iio/gyro/mpu3050-core.c
index 85b7ac49c8d9..0a406163d775 100644
--- a/drivers/iio/gyro/mpu3050-core.c
+++ b/drivers/iio/gyro/mpu3050-core.c
@@ -865,7 +865,7 @@ static int mpu3050_power_up(struct mpu3050 *mpu3050)
 		dev_err(mpu3050->dev, "error setting power mode\n");
 		return ret;
 	}
-	msleep(10);
+	usleep_range(10000, 20000);
 
 	return 0;
 }