Factorize timestamp module

index 7b3a2a0dc2cb..c34735b05830 100644
@@ -516,6 +516,17 @@ static int inv_icm42600_irq_init(struct inv_icm42600_state *st, int irq,
 					 "inv_icm42600", st);
 }
 
+static int inv_icm42600_timestamp_setup(struct inv_icm42600_state *st)
+{
+	unsigned int val;
+
+	/* enable timestamp register */
+	val = INV_ICM42600_TMST_CONFIG_TMST_TO_REGS_EN |
+	      INV_ICM42600_TMST_CONFIG_TMST_EN;
+	return regmap_update_bits(st->map, INV_ICM42600_REG_TMST_CONFIG,
+				  INV_ICM42600_TMST_CONFIG_MASK, val);
+}
+
 static int inv_icm42600_enable_regulator_vddio(struct inv_icm42600_state *st)
 {
 	int ret;

index 37cbf08acb3a..3e305e7e9887 100644
@@ -3,11 +3,10 @@
  * Copyright (C) 2020 Invensense, Inc.
  */
 
+#include <linux/errno.h>
 #include <linux/kernel.h>
-#include <linux/regmap.h>
 #include <linux/math64.h>
 
-#include "inv_icm42600.h"
 #include "inv_icm42600_timestamp.h"
 
 /* internal chip period is 32kHz, 31250ns */

@@ -56,17 +55,6 @@ void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
 	inv_update_acc(&ts->chip_period, INV_ICM42600_TIMESTAMP_PERIOD);
 }
 
-int inv_icm42600_timestamp_setup(struct inv_icm42600_state *st)
-{
-	unsigned int val;
-
-	/* enable timestamp register */
-	val = INV_ICM42600_TMST_CONFIG_TMST_TO_REGS_EN |
-	      INV_ICM42600_TMST_CONFIG_TMST_EN;
-	return regmap_update_bits(st->map, INV_ICM42600_REG_TMST_CONFIG,
-				  INV_ICM42600_TMST_CONFIG_MASK, val);
-}
-
 int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
 				      uint32_t period, bool fifo)
 {

index 4e4f331d4fe4..b808a6da15e5 100644
@@ -6,10 +6,6 @@
 #ifndef INV_ICM42600_TIMESTAMP_H_
 #define INV_ICM42600_TIMESTAMP_H_
 
-#include <linux/kernel.h>
-
-struct inv_icm42600_state;
-
 /**
  * struct inv_icm42600_timestamp_interval - timestamps interval
  * @lo:	interval lower bound

@@ -53,8 +49,6 @@ struct inv_icm42600_timestamp {
 void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
 				 uint32_t period);
 
-int inv_icm42600_timestamp_setup(struct inv_icm42600_state *st);
-
 int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
 				      uint32_t period, bool fifo);
 

similarity index 91%
rename from drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c
rename to drivers/iio/common/inv_sensors/inv_icm42600_timestamp.c
index 3e305e7e9887..7cd80cdf0ee5 100644
@@ -6,8 +6,9 @@
 #include <linux/errno.h>
 #include <linux/kernel.h>
 #include <linux/math64.h>
+#include <linux/module.h>
 
-#include "inv_icm42600_timestamp.h"
+#include <linux/iio/common/inv_icm42600_timestamp.h>
 
 /* internal chip period is 32kHz, 31250ns */
 #define INV_ICM42600_TIMESTAMP_PERIOD		31250

@@ -54,6 +55,7 @@ void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
 	/* use theoretical value for chip period */
 	inv_update_acc(&ts->chip_period, INV_ICM42600_TIMESTAMP_PERIOD);
 }
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_init, IIO_INV_SENSORS_TIMESTAMP);
 
 int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
 				      uint32_t period, bool fifo)

@@ -66,6 +68,7 @@ int inv_icm42600_timestamp_update_odr(struct inv_icm42600_timestamp *ts,
 
 	return 0;
 }
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_update_odr, IIO_INV_SENSORS_TIMESTAMP);
 
 static bool inv_validate_period(uint32_t period, uint32_t mult)
 {

@@ -153,6 +156,7 @@ void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
 	if (valid)
 		inv_align_timestamp_it(ts);
 }
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_interrupt, IIO_INV_SENSORS_TIMESTAMP);
 
 void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
 				      uint32_t fifo_period, size_t fifo_nb,

@@ -184,3 +188,8 @@ void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
 		ts->timestamp = ts->it.up - interval;
 	}
 }
+EXPORT_SYMBOL_NS_GPL(inv_icm42600_timestamp_apply_odr, IIO_INV_SENSORS_TIMESTAMP);
+
+MODULE_AUTHOR("InvenSense, Inc.");
+MODULE_DESCRIPTION("InvenSense sensors timestamp module");
+MODULE_LICENSE("GPL");

index c3f433ad3af6..c2591101645a 100644
@@ -10,14 +10,15 @@
 #include <linux/regmap.h>
 #include <linux/delay.h>
 #include <linux/math64.h>
-#include <linux/iio/iio.h>
+
 #include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 
 #include "inv_icm42600.h"
 #include "inv_icm42600_temp.h"
 #include "inv_icm42600_buffer.h"
-#include "inv_icm42600_timestamp.h"
 
 #define INV_ICM42600_ACCEL_CHAN(_modifier, _index, _ext_info)		\
 	{								\

index 32d7f8364230..ba4bb389a9fc 100644
@@ -9,11 +9,12 @@
 #include <linux/pm_runtime.h>
 #include <linux/regmap.h>
 #include <linux/delay.h>
-#include <linux/iio/iio.h>
+
 #include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/iio.h>
 
 #include "inv_icm42600.h"
-#include "inv_icm42600_timestamp.h"
 #include "inv_icm42600_buffer.h"
 
 /* FIFO header: 1 byte */

index c34735b05830..9d227b4776eb 100644
@@ -15,11 +15,12 @@
 #include <linux/pm_runtime.h>
 #include <linux/property.h>
 #include <linux/regmap.h>
+
+#include <linux/iio/common/inv_icm42600_timestamp.h>
 #include <linux/iio/iio.h>
 
 #include "inv_icm42600.h"
 #include "inv_icm42600_buffer.h"
-#include "inv_icm42600_timestamp.h"
 
 static const struct regmap_range_cfg inv_icm42600_regmap_ranges[] = {
 	{

@@ -799,3 +800,4 @@ EXPORT_NS_GPL_DEV_PM_OPS(inv_icm42600_pm_ops, IIO_ICM42600) = {
 MODULE_AUTHOR("InvenSense, Inc.");
 MODULE_DESCRIPTION("InvenSense ICM-426xx device driver");
 MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_INV_SENSORS_TIMESTAMP);

index 9d94a8518e3c..0ea3d8bf709d 100644
@@ -10,14 +10,15 @@
 #include <linux/regmap.h>
 #include <linux/delay.h>
 #include <linux/math64.h>
-#include <linux/iio/iio.h>
+
 #include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 
 #include "inv_icm42600.h"
 #include "inv_icm42600_temp.h"
 #include "inv_icm42600_buffer.h"
-#include "inv_icm42600_timestamp.h"
 
 #define INV_ICM42600_GYRO_CHAN(_modifier, _index, _ext_info)		\
 	{								\

similarity index 100%
rename from drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h
rename to include/linux/iio/common/inv_icm42600_timestamp.h

171 lines not on this page · raw message

index c2591101645a..b1e4fde27d25 100644
@@ -12,7 +12,7 @@
 #include <linux/math64.h>
 
 #include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 

@@ -99,7 +99,7 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
 					       const unsigned long *scan_mask)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	unsigned int fifo_en = 0;
 	unsigned int sleep_temp = 0;

@@ -127,7 +127,7 @@ static int inv_icm42600_accel_update_scan_mode(struct iio_dev *indio_dev,
 	}
 
 	/* update data FIFO write */
-	inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+	inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
 	ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
 	if (ret)
 		goto out_unlock;

@@ -312,7 +312,7 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
 					int val, int val2)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;

@@ -331,8 +331,8 @@ static int inv_icm42600_accel_write_odr(struct iio_dev *indio_dev,
 	pm_runtime_get_sync(dev);
 	mutex_lock(&st->lock);
 
-	ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
-						iio_buffer_enabled(indio_dev));
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+					       iio_buffer_enabled(indio_dev));
 	if (ret)
 		goto out_unlock;
 

@@ -708,7 +708,8 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 {
 	struct device *dev = regmap_get_device(st->map);
 	const char *name;
-	struct inv_icm42600_timestamp *ts;
+	struct inv_sensors_timestamp_chip ts_chip;
+	struct inv_sensors_timestamp *ts;
 	struct iio_dev *indio_dev;
 	int ret;
 

@@ -720,8 +721,15 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 	if (!indio_dev)
 		return ERR_PTR(-ENOMEM);
 
+	/*
+	 * clock period is 32kHz (31250ns)
+	 * jitter is +/- 2% (20 per mille)
+	 */
+	ts_chip.clock_period = 31250;
+	ts_chip.jitter = 20;
+	ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
 	ts = iio_priv(indio_dev);
-	inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.accel.odr));
+	inv_sensors_timestamp_init(ts, &ts_chip);
 
 	iio_device_set_drvdata(indio_dev, st);
 	indio_dev->name = name;

@@ -746,7 +754,7 @@ struct iio_dev *inv_icm42600_accel_init(struct inv_icm42600_state *st)
 int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 	ssize_t i, size;
 	unsigned int no;
 	const void *accel, *gyro, *timestamp;

@@ -769,15 +777,15 @@ int inv_icm42600_accel_parse_fifo(struct iio_dev *indio_dev)
 
 		/* update odr */
 		if (odr & INV_ICM42600_SENSOR_ACCEL)
-			inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
-							 st->fifo.nb.total, no);
+			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+							st->fifo.nb.total, no);
 
 		/* buffer is copied to userspace, zeroing it to avoid any data leak */
 		memset(&buffer, 0, sizeof(buffer));
 		memcpy(&buffer.accel, accel, sizeof(buffer.accel));
 		/* convert 8 bits FIFO temperature in high resolution format */
 		buffer.temp = temp ? (*temp * 64) : 0;
-		ts_val = inv_icm42600_timestamp_pop(ts);
+		ts_val = inv_sensors_timestamp_pop(ts);
 		iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
 	}
 

index ba4bb389a9fc..6ef1df9d60b7 100644
@@ -11,7 +11,7 @@
 #include <linux/delay.h>
 
 #include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
 
 #include "inv_icm42600.h"

@@ -276,12 +276,12 @@ static int inv_icm42600_buffer_preenable(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 
 	pm_runtime_get_sync(dev);
 
 	mutex_lock(&st->lock);
-	inv_icm42600_timestamp_reset(ts);
+	inv_sensors_timestamp_reset(ts);
 	mutex_unlock(&st->lock);
 
 	return 0;

@@ -505,7 +505,7 @@ int inv_icm42600_buffer_fifo_read(struct inv_icm42600_state *st,
 
 int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 {
-	struct inv_icm42600_timestamp *ts;
+	struct inv_sensors_timestamp *ts;
 	int ret;
 
 	if (st->fifo.nb.total == 0)

@@ -513,8 +513,8 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 
 	/* handle gyroscope timestamp and FIFO data parsing */
 	ts = iio_priv(st->indio_gyro);
-	inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
-					 st->fifo.nb.gyro, st->timestamp.gyro);
+	inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+					st->fifo.nb.gyro, st->timestamp.gyro);
 	if (st->fifo.nb.gyro > 0) {
 		ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
 		if (ret)

@@ -523,8 +523,8 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 
 	/* handle accelerometer timestamp and FIFO data parsing */
 	ts = iio_priv(st->indio_accel);
-	inv_icm42600_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
-					 st->fifo.nb.accel, st->timestamp.accel);
+	inv_sensors_timestamp_interrupt(ts, st->fifo.period, st->fifo.nb.total,
+					st->fifo.nb.accel, st->timestamp.accel);
 	if (st->fifo.nb.accel > 0) {
 		ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
 		if (ret)

@@ -537,7 +537,7 @@ int inv_icm42600_buffer_fifo_parse(struct inv_icm42600_state *st)
 int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
 				     unsigned int count)
 {
-	struct inv_icm42600_timestamp *ts;
+	struct inv_sensors_timestamp *ts;
 	int64_t gyro_ts, accel_ts;
 	int ret;
 

@@ -553,9 +553,9 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
 
 	if (st->fifo.nb.gyro > 0) {
 		ts = iio_priv(st->indio_gyro);
-		inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
-						 st->fifo.nb.total, st->fifo.nb.gyro,
-						 gyro_ts);
+		inv_sensors_timestamp_interrupt(ts, st->fifo.period,
+						st->fifo.nb.total, st->fifo.nb.gyro,
+						gyro_ts);
 		ret = inv_icm42600_gyro_parse_fifo(st->indio_gyro);
 		if (ret)
 			return ret;

@@ -563,9 +563,9 @@ int inv_icm42600_buffer_hwfifo_flush(struct inv_icm42600_state *st,
 
 	if (st->fifo.nb.accel > 0) {
 		ts = iio_priv(st->indio_accel);
-		inv_icm42600_timestamp_interrupt(ts, st->fifo.period,
-						 st->fifo.nb.total, st->fifo.nb.accel,
-						 accel_ts);
+		inv_sensors_timestamp_interrupt(ts, st->fifo.period,
+						st->fifo.nb.total, st->fifo.nb.accel,
+						accel_ts);
 		ret = inv_icm42600_accel_parse_fifo(st->indio_accel);
 		if (ret)
 			return ret;

index 9d227b4776eb..a5e81906e37e 100644
@@ -16,7 +16,6 @@
 #include <linux/property.h>
 #include <linux/regmap.h>
 
-#include <linux/iio/common/inv_icm42600_timestamp.h>
 #include <linux/iio/iio.h>
 
 #include "inv_icm42600.h"

index 0ea3d8bf709d..3bf946e56e1d 100644
@@ -12,7 +12,7 @@
 #include <linux/math64.h>
 
 #include <linux/iio/buffer.h>
-#include <linux/iio/common/inv_icm42600_timestamp.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
 #include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 

@@ -99,7 +99,7 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
 					      const unsigned long *scan_mask)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;
 	unsigned int fifo_en = 0;
 	unsigned int sleep_gyro = 0;

@@ -127,7 +127,7 @@ static int inv_icm42600_gyro_update_scan_mode(struct iio_dev *indio_dev,
 	}
 
 	/* update data FIFO write */
-	inv_icm42600_timestamp_apply_odr(ts, 0, 0, 0);
+	inv_sensors_timestamp_apply_odr(ts, 0, 0, 0);
 	ret = inv_icm42600_buffer_set_fifo_en(st, fifo_en | st->fifo.en);
 	if (ret)
 		goto out_unlock;

@@ -324,7 +324,7 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
 				       int val, int val2)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 	struct device *dev = regmap_get_device(st->map);
 	unsigned int idx;
 	struct inv_icm42600_sensor_conf conf = INV_ICM42600_SENSOR_CONF_INIT;

@@ -343,8 +343,8 @@ static int inv_icm42600_gyro_write_odr(struct iio_dev *indio_dev,
 	pm_runtime_get_sync(dev);
 	mutex_lock(&st->lock);
 
-	ret = inv_icm42600_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
-						iio_buffer_enabled(indio_dev));
+	ret = inv_sensors_timestamp_update_odr(ts, inv_icm42600_odr_to_period(conf.odr),
+					       iio_buffer_enabled(indio_dev));
 	if (ret)
 		goto out_unlock;
 

@@ -719,7 +719,8 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 {
 	struct device *dev = regmap_get_device(st->map);
 	const char *name;
-	struct inv_icm42600_timestamp *ts;
+	struct inv_sensors_timestamp_chip ts_chip;
+	struct inv_sensors_timestamp *ts;
 	struct iio_dev *indio_dev;
 	int ret;
 

@@ -731,8 +732,15 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 	if (!indio_dev)
 		return ERR_PTR(-ENOMEM);
 
+	/*
+	 * clock period is 32kHz (31250ns)
+	 * jitter is +/- 2% (20 per mille)
+	 */
+	ts_chip.clock_period = 31250;
+	ts_chip.jitter = 20;
+	ts_chip.init_period = inv_icm42600_odr_to_period(st->conf.accel.odr);
 	ts = iio_priv(indio_dev);
-	inv_icm42600_timestamp_init(ts, inv_icm42600_odr_to_period(st->conf.gyro.odr));
+	inv_sensors_timestamp_init(ts, &ts_chip);
 
 	iio_device_set_drvdata(indio_dev, st);
 	indio_dev->name = name;

@@ -758,7 +766,7 @@ struct iio_dev *inv_icm42600_gyro_init(struct inv_icm42600_state *st)
 int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
 {
 	struct inv_icm42600_state *st = iio_device_get_drvdata(indio_dev);
-	struct inv_icm42600_timestamp *ts = iio_priv(indio_dev);
+	struct inv_sensors_timestamp *ts = iio_priv(indio_dev);
 	ssize_t i, size;
 	unsigned int no;
 	const void *accel, *gyro, *timestamp;

@@ -781,15 +789,15 @@ int inv_icm42600_gyro_parse_fifo(struct iio_dev *indio_dev)
 
 		/* update odr */
 		if (odr & INV_ICM42600_SENSOR_GYRO)
-			inv_icm42600_timestamp_apply_odr(ts, st->fifo.period,
-							 st->fifo.nb.total, no);
+			inv_sensors_timestamp_apply_odr(ts, st->fifo.period,
+							st->fifo.nb.total, no);
 
 		/* buffer is copied to userspace, zeroing it to avoid any data leak */
 		memset(&buffer, 0, sizeof(buffer));
 		memcpy(&buffer.gyro, gyro, sizeof(buffer.gyro));
 		/* convert 8 bits FIFO temperature in high resolution format */
 		buffer.temp = temp ? (*temp * 64) : 0;
-		ts_val = inv_icm42600_timestamp_pop(ts);
+		ts_val = inv_sensors_timestamp_pop(ts);
 		iio_push_to_buffers_with_timestamp(indio_dev, &buffer, ts_val);
 	}
 

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index 592a6e60b413..13086b569b90 100644
@@ -12,12 +12,15 @@
 #include <linux/jiffies.h>
 #include <linux/irq.h>
 #include <linux/interrupt.h>
-#include <linux/iio/iio.h>
 #include <linux/acpi.h>
 #include <linux/platform_device.h>
 #include <linux/regulator/consumer.h>
 #include <linux/pm.h>
 #include <linux/pm_runtime.h>
+
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
+
 #include "inv_mpu_iio.h"
 #include "inv_mpu_magn.h"
 

@@ -521,6 +524,7 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	int result;
 	u8 d;
 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
+	struct inv_sensors_timestamp_chip timestamp;
 
 	result = inv_mpu6050_set_gyro_fsr(st, st->chip_config.fsr);
 	if (result)

@@ -544,12 +548,12 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	if (result)
 		return result;
 
-	/*
-	 * Internal chip period is 1ms (1kHz).
-	 * Let's use at the beginning the theorical value before measuring
-	 * with interrupt timestamps.
-	 */
-	st->chip_period = NSEC_PER_MSEC;
+	/* clock jitter is +/- 2% */
+	timestamp.clock_period = NSEC_PER_SEC / INV_MPU6050_INTERNAL_FREQ_HZ;
+	timestamp.jitter = 20;
+	timestamp.init_period =
+			NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+	inv_sensors_timestamp_init(&st->timestamp, &timestamp);
 
 	/* magn chip init, noop if not present in the chip */
 	result = inv_mpu_magn_probe(st);

@@ -936,6 +940,8 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 			    const char *buf, size_t count)
 {
 	int fifo_rate;
+	u32 fifo_period;
+	bool fifo_on;
 	u8 d;
 	int result;
 	struct iio_dev *indio_dev = dev_to_iio_dev(dev);

@@ -952,12 +958,21 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 	d = INV_MPU6050_FIFO_RATE_TO_DIVIDER(fifo_rate);
 	/* compute back the fifo rate to handle truncation cases */
 	fifo_rate = INV_MPU6050_DIVIDER_TO_FIFO_RATE(d);
+	fifo_period = NSEC_PER_SEC / fifo_rate;
 
 	mutex_lock(&st->lock);
 	if (d == st->chip_config.divider) {
 		result = 0;
 		goto fifo_rate_fail_unlock;
 	}
+
+	fifo_on = st->chip_config.accl_fifo_enable ||
+		  st->chip_config.gyro_fifo_enable ||
+		  st->chip_config.magn_fifo_enable;
+	result = inv_sensors_timestamp_update_odr(&st->timestamp, fifo_period, fifo_on);
+	if (result)
+		goto fifo_rate_fail_unlock;
+
 	result = pm_runtime_resume_and_get(pdev);
 	if (result)
 		goto fifo_rate_fail_unlock;

@@ -1785,3 +1800,4 @@ EXPORT_NS_GPL_DEV_PM_OPS(inv_mpu_pmops, IIO_MPU6050) = {
 MODULE_AUTHOR("Invensense Corporation");
 MODULE_DESCRIPTION("Invensense device MPU6050 driver");
 MODULE_LICENSE("GPL");
+MODULE_IMPORT_NS(IIO_INV_SENSORS_TIMESTAMP);

index b4ab2c397d0f..a51d103a57ca 100644
@@ -9,15 +9,17 @@
 #include <linux/i2c.h>
 #include <linux/i2c-mux.h>
 #include <linux/mutex.h>
-#include <linux/iio/iio.h>
-#include <linux/iio/buffer.h>
+#include <linux/platform_data/invensense_mpu6050.h>
 #include <linux/regmap.h>
-#include <linux/iio/sysfs.h>
+
+#include <linux/iio/buffer.h>
+#include <linux/iio/common/inv_sensors_timestamp.h>
+#include <linux/iio/iio.h>
 #include <linux/iio/kfifo_buf.h>
 #include <linux/iio/trigger.h>
 #include <linux/iio/triggered_buffer.h>
 #include <linux/iio/trigger_consumer.h>
-#include <linux/platform_data/invensense_mpu6050.h>
+#include <linux/iio/sysfs.h>
 
 /**
  *  struct inv_mpu6050_reg_map - Notable registers.

@@ -170,9 +172,7 @@ struct inv_mpu6050_hw {
  *  @map		regmap pointer.
  *  @irq		interrupt number.
  *  @irq_mask		the int_pin_cfg mask to configure interrupt type.
- *  @chip_period:	chip internal period estimation (~1kHz).
- *  @it_timestamp:	timestamp from previous interrupt.
- *  @data_timestamp:	timestamp for next data sample.
+ *  @timestamp:		timestamping module
  *  @vdd_supply:	VDD voltage regulator for the chip.
  *  @vddio_supply	I/O voltage regulator for the chip.
  *  @magn_disabled:     magnetometer disabled for backward compatibility reason.

@@ -196,9 +196,7 @@ struct inv_mpu6050_state {
 	int irq;
 	u8 irq_mask;
 	unsigned skip_samples;
-	s64 chip_period;
-	s64 it_timestamp;
-	s64 data_timestamp;
+	struct inv_sensors_timestamp timestamp;
 	struct regulator *vdd_supply;
 	struct regulator *vddio_supply;
 	bool magn_disabled;

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index 882546897255..676704f9151f 100644
@@ -4,6 +4,9 @@
 */
 
 #include <linux/pm_runtime.h>
+
+#include <linux/iio/common/inv_sensors_timestamp.h>
+
 #include "inv_mpu_iio.h"
 
 static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)

@@ -106,7 +109,8 @@ int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
 	int ret;
 
 	if (enable) {
-		st->it_timestamp = 0;
+		/* reset timestamping */
+		inv_sensors_timestamp_reset(&st->timestamp);
 		/* reset FIFO */
 		d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
 		ret = regmap_write(st->map, st->reg->user_ctrl, d);