14 files changed, 141 insertions, 430 deletions

diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c
index 3abffb01ba31..17275a53ca2c 100644
--- a/drivers/iio/imu/adis16475.c
+++ b/drivers/iio/imu/adis16475.c
@@ -115,8 +115,6 @@ enum {
 	ADIS16475_SCAN_ACCEL_Y,
 	ADIS16475_SCAN_ACCEL_Z,
 	ADIS16475_SCAN_TEMP,
-	ADIS16475_SCAN_DIAG_S_FLAGS,
-	ADIS16475_SCAN_CRC_FAILURE,
 };
 
 static bool low_rate_allow;
@@ -728,6 +726,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
+		.has_burst32 = true,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16477_2] = {
@@ -743,6 +742,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
+		.has_burst32 = true,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16477_3] = {
@@ -758,6 +758,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
 		.max_dec = 1999,
 		.sync = adis16475_sync_mode,
 		.num_sync = ARRAY_SIZE(adis16475_sync_mode),
+		.has_burst32 = true,
 		.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts),
 	},
 	[ADIS16465_1] = {
diff --git a/drivers/iio/imu/inv_icm42600/Kconfig b/drivers/iio/imu/inv_icm42600/Kconfig
index 50cbcfcb6cf1..f56b0816cc4d 100644
--- a/drivers/iio/imu/inv_icm42600/Kconfig
+++ b/drivers/iio/imu/inv_icm42600/Kconfig
@@ -3,6 +3,7 @@
 config INV_ICM42600
 	tristate
 	select IIO_BUFFER
+	select IIO_INV_SENSORS_TIMESTAMP
 
 config INV_ICM42600_I2C
 	tristate "InvenSense ICM-426xx I2C driver"
diff --git a/drivers/iio/imu/inv_icm42600/Makefile b/drivers/iio/imu/inv_icm42600/Makefile
index 291714d9aa54..0f49f6df3647 100644
--- a/drivers/iio/imu/inv_icm42600/Makefile
+++ b/drivers/iio/imu/inv_icm42600/Makefile
@@ -6,7 +6,6 @@ inv-icm42600-y += inv_icm42600_gyro.o
 inv-icm42600-y += inv_icm42600_accel.o
 inv-icm42600-y += inv_icm42600_temp.o
 inv-icm42600-y += inv_icm42600_buffer.o
-inv-icm42600-y += inv_icm42600_timestamp.o
 
 obj-$(CONFIG_INV_ICM42600_I2C) += inv-icm42600-i2c.o
 inv-icm42600-i2c-y += inv_icm42600_i2c.o
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
index c3f433ad3af6..b1e4fde27d25 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_accel.c
@@ -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_sensors_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)		\
 	{								\
@@ -98,7 +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;
@@ -126,7 +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;
@@ -311,7 +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;
@@ -330,8 +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;
 
@@ -707,7 +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;
 
@@ -719,8 +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;
@@ -745,7 +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;
@@ -768,15 +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);
 	}
 
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
index 32d7f8364230..6ef1df9d60b7 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_buffer.c
@@ -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_sensors_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 */
@@ -275,12 +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;
@@ -504,7 +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)
@@ -512,8 +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)
@@ -522,8 +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)
@@ -536,7 +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;
 
@@ -552,9 +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;
@@ -562,9 +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;
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
index 7b3a2a0dc2cb..a5e81906e37e 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_core.c
@@ -15,11 +15,11 @@
 #include <linux/pm_runtime.h>
 #include <linux/property.h>
 #include <linux/regmap.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[] = {
 	{
@@ -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;
@@ -788,3 +799,4 @@ 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);
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
index 9d94a8518e3c..3bf946e56e1d 100644
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
+++ b/drivers/iio/imu/inv_icm42600/inv_icm42600_gyro.c
@@ -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_sensors_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)		\
 	{								\
@@ -98,7 +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;
@@ -126,7 +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;
@@ -323,7 +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;
@@ -342,8 +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;
 
@@ -718,7 +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;
 
@@ -730,8 +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;
@@ -757,7 +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;
@@ -780,15 +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);
 	}
 
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c b/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c
deleted file mode 100644
index 37cbf08acb3a..000000000000
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.c
+++ /dev/null
@@ -1,198 +0,0 @@
-// SPDX-License-Identifier: GPL-2.0-or-later
-/*
- * Copyright (C) 2020 Invensense, Inc.
- */
-
-#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 */
-#define INV_ICM42600_TIMESTAMP_PERIOD		31250
-/* allow a jitter of +/- 2% */
-#define INV_ICM42600_TIMESTAMP_JITTER		2
-/* compute min and max periods accepted */
-#define INV_ICM42600_TIMESTAMP_MIN_PERIOD(_p)		\
-	(((_p) * (100 - INV_ICM42600_TIMESTAMP_JITTER)) / 100)
-#define INV_ICM42600_TIMESTAMP_MAX_PERIOD(_p)		\
-	(((_p) * (100 + INV_ICM42600_TIMESTAMP_JITTER)) / 100)
-
-/* Add a new value inside an accumulator and update the estimate value */
-static void inv_update_acc(struct inv_icm42600_timestamp_acc *acc, uint32_t val)
-{
-	uint64_t sum = 0;
-	size_t i;
-
-	acc->values[acc->idx++] = val;
-	if (acc->idx >= ARRAY_SIZE(acc->values))
-		acc->idx = 0;
-
-	/* compute the mean of all stored values, use 0 as empty slot */
-	for (i = 0; i < ARRAY_SIZE(acc->values); ++i) {
-		if (acc->values[i] == 0)
-			break;
-		sum += acc->values[i];
-	}
-
-	acc->val = div_u64(sum, i);
-}
-
-void inv_icm42600_timestamp_init(struct inv_icm42600_timestamp *ts,
-				 uint32_t period)
-{
-	/* initial odr for sensor after reset is 1kHz */
-	const uint32_t default_period = 1000000;
-
-	/* current multiplier and period values after reset */
-	ts->mult = default_period / INV_ICM42600_TIMESTAMP_PERIOD;
-	ts->period = default_period;
-	/* new set multiplier is the one from chip initialization */
-	ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
-
-	/* use theoretical value for chip period */
-	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)
-{
-	/* when FIFO is on, prevent odr change if one is already pending */
-	if (fifo && ts->new_mult != 0)
-		return -EAGAIN;
-
-	ts->new_mult = period / INV_ICM42600_TIMESTAMP_PERIOD;
-
-	return 0;
-}
-
-static bool inv_validate_period(uint32_t period, uint32_t mult)
-{
-	const uint32_t chip_period = INV_ICM42600_TIMESTAMP_PERIOD;
-	uint32_t period_min, period_max;
-
-	/* check that period is acceptable */
-	period_min = INV_ICM42600_TIMESTAMP_MIN_PERIOD(chip_period) * mult;
-	period_max = INV_ICM42600_TIMESTAMP_MAX_PERIOD(chip_period) * mult;
-	if (period > period_min && period < period_max)
-		return true;
-	else
-		return false;
-}
-
-static bool inv_update_chip_period(struct inv_icm42600_timestamp *ts,
-				   uint32_t mult, uint32_t period)
-{
-	uint32_t new_chip_period;
-
-	if (!inv_validate_period(period, mult))
-		return false;
-
-	/* update chip internal period estimation */
-	new_chip_period = period / mult;
-	inv_update_acc(&ts->chip_period, new_chip_period);
-	ts->period = ts->mult * ts->chip_period.val;
-
-	return true;
-}
-
-static void inv_align_timestamp_it(struct inv_icm42600_timestamp *ts)
-{
-	int64_t delta, jitter;
-	int64_t adjust;
-
-	/* delta time between last sample and last interrupt */
-	delta = ts->it.lo - ts->timestamp;
-
-	/* adjust timestamp while respecting jitter */
-	jitter = div_s64((int64_t)ts->period * INV_ICM42600_TIMESTAMP_JITTER, 100);
-	if (delta > jitter)
-		adjust = jitter;
-	else if (delta < -jitter)
-		adjust = -jitter;
-	else
-		adjust = 0;
-
-	ts->timestamp += adjust;
-}
-
-void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
-				      uint32_t fifo_period, size_t fifo_nb,
-				      size_t sensor_nb, int64_t timestamp)
-{
-	struct inv_icm42600_timestamp_interval *it;
-	int64_t delta, interval;
-	const uint32_t fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
-	uint32_t period = ts->period;
-	bool valid = false;
-
-	if (fifo_nb == 0)
-		return;
-
-	/* update interrupt timestamp and compute chip and sensor periods */
-	it = &ts->it;
-	it->lo = it->up;
-	it->up = timestamp;
-	delta = it->up - it->lo;
-	if (it->lo != 0) {
-		/* compute period: delta time divided by number of samples */
-		period = div_s64(delta, fifo_nb);
-		valid = inv_update_chip_period(ts, fifo_mult, period);
-	}
-
-	/* no previous data, compute theoritical value from interrupt */
-	if (ts->timestamp == 0) {
-		/* elapsed time: sensor period * sensor samples number */
-		interval = (int64_t)ts->period * (int64_t)sensor_nb;
-		ts->timestamp = it->up - interval;
-		return;
-	}
-
-	/* if interrupt interval is valid, sync with interrupt timestamp */
-	if (valid)
-		inv_align_timestamp_it(ts);
-}
-
-void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
-				      uint32_t fifo_period, size_t fifo_nb,
-				      unsigned int fifo_no)
-{
-	int64_t interval;
-	uint32_t fifo_mult;
-
-	if (ts->new_mult == 0)
-		return;
-
-	/* update to new multiplier and update period */
-	ts->mult = ts->new_mult;
-	ts->new_mult = 0;
-	ts->period = ts->mult * ts->chip_period.val;
-
-	/*
-	 * After ODR change the time interval with the previous sample is
-	 * undertermined (depends when the change occures). So we compute the
-	 * timestamp from the current interrupt using the new FIFO period, the
-	 * total number of samples and the current sample numero.
-	 */
-	if (ts->timestamp != 0) {
-		/* compute measured fifo period */
-		fifo_mult = fifo_period / INV_ICM42600_TIMESTAMP_PERIOD;
-		fifo_period = fifo_mult * ts->chip_period.val;
-		/* computes time interval between interrupt and this sample */
-		interval = (int64_t)(fifo_nb - fifo_no) * (int64_t)fifo_period;
-		ts->timestamp = ts->it.up - interval;
-	}
-}
diff --git a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h b/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h
deleted file mode 100644
index 4e4f331d4fe4..000000000000
--- a/drivers/iio/imu/inv_icm42600/inv_icm42600_timestamp.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/* SPDX-License-Identifier: GPL-2.0-or-later */
-/*
- * Copyright (C) 2020 Invensense, Inc.
- */
-
-#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
- * @up:	interval upper bound
- */
-struct inv_icm42600_timestamp_interval {
-	int64_t lo;
-	int64_t up;
-};
-
-/**
- * struct inv_icm42600_timestamp_acc - accumulator for computing an estimation
- * @val:	current estimation of the value, the mean of all values
- * @idx:	current index of the next free place in values table
- * @values:	table of all measured values, use for computing the mean
- */
-struct inv_icm42600_timestamp_acc {
-	uint32_t val;
-	size_t idx;
-	uint32_t values[32];
-};
-
-/**
- * struct inv_icm42600_timestamp - timestamp management states
- * @it:			interrupts interval timestamps
- * @timestamp:		store last timestamp for computing next data timestamp
- * @mult:		current internal period multiplier
- * @new_mult:		new set internal period multiplier (not yet effective)
- * @period:		measured current period of the sensor
- * @chip_period:	accumulator for computing internal chip period
- */
-struct inv_icm42600_timestamp {
-	struct inv_icm42600_timestamp_interval it;
-	int64_t timestamp;
-	uint32_t mult;
-	uint32_t new_mult;
-	uint32_t period;
-	struct inv_icm42600_timestamp_acc chip_period;
-};
-
-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);
-
-void inv_icm42600_timestamp_interrupt(struct inv_icm42600_timestamp *ts,
-				      uint32_t fifo_period, size_t fifo_nb,
-				      size_t sensor_nb, int64_t timestamp);
-
-static inline int64_t
-inv_icm42600_timestamp_pop(struct inv_icm42600_timestamp *ts)
-{
-	ts->timestamp += ts->period;
-	return ts->timestamp;
-}
-
-void inv_icm42600_timestamp_apply_odr(struct inv_icm42600_timestamp *ts,
-				      uint32_t fifo_period, size_t fifo_nb,
-				      unsigned int fifo_no);
-
-static inline void
-inv_icm42600_timestamp_reset(struct inv_icm42600_timestamp *ts)
-{
-	const struct inv_icm42600_timestamp_interval interval_init = {0LL, 0LL};
-
-	ts->it = interval_init;
-	ts->timestamp = 0;
-}
-
-#endif
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 64dd73dcc4ba..5f62e4fd475d 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -7,6 +7,7 @@ config INV_MPU6050_IIO
 	tristate
 	select IIO_BUFFER
 	select IIO_TRIGGERED_BUFFER
+	select IIO_INV_SENSORS_TIMESTAMP
 
 config INV_MPU6050_I2C
 	tristate "Invensense MPU6050 devices (I2C)"
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 592a6e60b413..29f906c884bd 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -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;
@@ -1330,6 +1345,9 @@ static int inv_check_and_setup_chip(struct inv_mpu6050_state *st)
 	st->reg = hw_info[st->chip_type].reg;
 	memcpy(&st->chip_config, hw_info[st->chip_type].config,
 	       sizeof(st->chip_config));
+	st->data = devm_kzalloc(regmap_get_device(st->map), st->hw->fifo_size, GFP_KERNEL);
+	if (st->data == NULL)
+		return -ENOMEM;
 
 	/* check chip self-identification */
 	result = regmap_read(st->map, INV_MPU6050_REG_WHOAMI, &regval);
@@ -1785,3 +1803,4 @@ 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);
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index b4ab2c397d0f..ed5a96e78df0 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -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.
@@ -170,16 +172,14 @@ 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.
  *  @magn_raw_to_gauss:	coefficient to convert mag raw value to Gauss.
  *  @magn_orient:       magnetometer sensor chip orientation if available.
  *  @suspended_sensors:	sensors mask of sensors turned off for suspend
- *  @data:		dma safe buffer used for bulk reads.
+ *  @data:		read buffer used for bulk reads.
  */
 struct inv_mpu6050_state {
 	struct mutex lock;
@@ -196,16 +196,14 @@ 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;
 	s32 magn_raw_to_gauss[3];
 	struct iio_mount_matrix magn_orient;
 	unsigned int suspended_sensors;
-	u8 data[INV_MPU6050_OUTPUT_DATA_SIZE] __aligned(IIO_DMA_MINALIGN);
+	u8 *data;
 };
 
 /*register and associated bit definition*/
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 45c37525c2f1..66d4ba088e70 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -13,81 +13,10 @@
 #include <linux/interrupt.h>
 #include <linux/poll.h>
 #include <linux/math64.h>
-#include "inv_mpu_iio.h"
-
-/**
- *  inv_mpu6050_update_period() - Update chip internal period estimation
- *
- *  @st:		driver state
- *  @timestamp:		the interrupt timestamp
- *  @nb:		number of data set in the fifo
- *
- *  This function uses interrupt timestamps to estimate the chip period and
- *  to choose the data timestamp to come.
- */
-static void inv_mpu6050_update_period(struct inv_mpu6050_state *st,
-				      s64 timestamp, size_t nb)
-{
-	/* Period boundaries for accepting timestamp */
-	const s64 period_min =
-		(NSEC_PER_MSEC * (100 - INV_MPU6050_TS_PERIOD_JITTER)) / 100;
-	const s64 period_max =
-		(NSEC_PER_MSEC * (100 + INV_MPU6050_TS_PERIOD_JITTER)) / 100;
-	const s32 divider = INV_MPU6050_FREQ_DIVIDER(st);
-	s64 delta, interval;
-	bool use_it_timestamp = false;
-
-	if (st->it_timestamp == 0) {
-		/* not initialized, forced to use it_timestamp */
-		use_it_timestamp = true;
-	} else if (nb == 1) {
-		/*
-		 * Validate the use of it timestamp by checking if interrupt
-		 * has been delayed.
-		 * nb > 1 means interrupt was delayed for more than 1 sample,
-		 * so it's obviously not good.
-		 * Compute the chip period between 2 interrupts for validating.
-		 */
-		delta = div_s64(timestamp - st->it_timestamp, divider);
-		if (delta > period_min && delta < period_max) {
-			/* update chip period and use it timestamp */
-			st->chip_period = (st->chip_period + delta) / 2;
-			use_it_timestamp = true;
-		}
-	}
 
-	if (use_it_timestamp) {
-		/*
-		 * Manage case of multiple samples in the fifo (nb > 1):
-		 * compute timestamp corresponding to the first sample using
-		 * estimated chip period.
-		 */
-		interval = (nb - 1) * st->chip_period * divider;
-		st->data_timestamp = timestamp - interval;
-	}
+#include <linux/iio/common/inv_sensors_timestamp.h>
 
-	/* save it timestamp */
-	st->it_timestamp = timestamp;
-}
-
-/**
- *  inv_mpu6050_get_timestamp() - Return the current data timestamp
- *
- *  @st:		driver state
- *  @return:		current data timestamp
- *
- *  This function returns the current data timestamp and prepares for next one.
- */
-static s64 inv_mpu6050_get_timestamp(struct inv_mpu6050_state *st)
-{
-	s64 ts;
-
-	/* return current data timestamp and increment */
-	ts = st->data_timestamp;
-	st->data_timestamp += st->chip_period * INV_MPU6050_FREQ_DIVIDER(st);
-
-	return ts;
-}
+#include "inv_mpu_iio.h"
 
 static int inv_reset_fifo(struct iio_dev *indio_dev)
 {
@@ -121,7 +50,9 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 	size_t bytes_per_datum;
 	int result;
 	u16 fifo_count;
+	u32 fifo_period;
 	s64 timestamp;
+	u8 data[INV_MPU6050_OUTPUT_DATA_SIZE];
 	int int_status;
 	size_t i, nb;
 
@@ -175,21 +106,30 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 		goto flush_fifo;
 	}
 
-	/* compute and process all complete datum */
+	/* compute and process only all complete datum */
 	nb = fifo_count / bytes_per_datum;
-	inv_mpu6050_update_period(st, pf->timestamp, nb);
+	fifo_count = nb * bytes_per_datum;
+	/* Each FIFO data contains all sensors, so same number for FIFO and sensor data */
+	fifo_period = NSEC_PER_SEC / INV_MPU6050_DIVIDER_TO_FIFO_RATE(st->chip_config.divider);
+	inv_sensors_timestamp_interrupt(&st->timestamp, fifo_period, nb, nb, pf->timestamp);
+	inv_sensors_timestamp_apply_odr(&st->timestamp, fifo_period, nb, 0);
+
+	/* clear internal data buffer for avoiding kernel data leak */
+	memset(data, 0, sizeof(data));
+
+	/* read all data once and process every samples */
+	result = regmap_noinc_read(st->map, st->reg->fifo_r_w, st->data, fifo_count);
+	if (result)
+		goto flush_fifo;
 	for (i = 0; i < nb; ++i) {
-		result = regmap_noinc_read(st->map, st->reg->fifo_r_w,
-					   st->data, bytes_per_datum);
-		if (result)
-			goto flush_fifo;
 		/* skip first samples if needed */
 		if (st->skip_samples) {
 			st->skip_samples--;
 			continue;
 		}
-		timestamp = inv_mpu6050_get_timestamp(st);
-		iio_push_to_buffers_with_timestamp(indio_dev, st->data, timestamp);
+		memcpy(data, &st->data[i * bytes_per_datum], bytes_per_datum);
+		timestamp = inv_sensors_timestamp_pop(&st->timestamp);
+		iio_push_to_buffers_with_timestamp(indio_dev, data, timestamp);
 	}
 
 end_session:
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index 882546897255..676704f9151f 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -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);