diff --git a/drivers/iio/imu/inv_mpu6050/Makefile b/drivers/iio/imu/inv_mpu6050/Makefile
index fee41415ebdb..6f5baac29f81 100644
--- a/drivers/iio/imu/inv_mpu6050/Makefile
+++ b/drivers/iio/imu/inv_mpu6050/Makefile
@@ -5,7 +5,8 @@
 
 obj-$(CONFIG_INV_MPU6050_IIO) += inv-mpu6050.o
 inv-mpu6050-y := inv_mpu_core.o inv_mpu_ring.o inv_mpu_trigger.o
-inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu9250_magn.o
+inv-mpu6050-$(CONFIG_INV_MPU6050_MAGN) += inv_mpu_aux.o inv_mpu_magn.o \
+	inv_mpu9250_magn.o
 
 obj-$(CONFIG_INV_MPU6050_I2C) += inv-mpu6050-i2c.o
 inv-mpu6050-i2c-y := inv_mpu_i2c.o inv_mpu_acpi.o
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index b17f060b52fc..d08cec6a8a7a 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -16,7 +16,9 @@
 #include <linux/acpi.h>
 #include <linux/platform_device.h>
 #include <linux/regulator/consumer.h>
+
 #include "inv_mpu_iio.h"
+#include "inv_mpu_magn.h"
 
 /*
  * this is the gyro scale translated from dynamic range plus/minus
@@ -332,6 +334,11 @@ static int inv_mpu6050_init_config(struct iio_dev *indio_dev)
 	 */
 	st->chip_period = NSEC_PER_MSEC;
 
+	/* magn chip init, noop if not present in the chip */
+	result = inv_mpu_magn_probe(st);
+	if (result)
+		goto error_power_off;
+
 	return inv_mpu6050_set_power_itg(st, false);
 
 error_power_off:
@@ -411,6 +418,9 @@ static int inv_mpu6050_read_channel_data(struct iio_dev *indio_dev,
 		ret = inv_mpu6050_sensor_show(st, st->reg->temperature,
 					      IIO_MOD_X, val);
 		break;
+	case IIO_MAGN:
+		ret = inv_mpu_magn_read(st, chan->channel2, val);
+		break;
 	default:
 		ret = -EINVAL;
 		break;
@@ -469,6 +479,8 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 				*val2 = INV_MPU6050_TEMP_SCALE;
 
 			return IIO_VAL_INT_PLUS_MICRO;
+		case IIO_MAGN:
+			return inv_mpu_magn_get_scale(st, chan, val, val2);
 		default:
 			return -EINVAL;
 		}
@@ -710,6 +722,11 @@ inv_mpu6050_fifo_rate_store(struct device *dev, struct device_attribute *attr,
 	if (result)
 		goto fifo_rate_fail_power_off;
 
+	/* update rate for magn, noop if not present in chip */
+	result = inv_mpu_magn_set_rate(st, fifo_rate);
+	if (result)
+		goto fifo_rate_fail_power_off;
+
 fifo_rate_fail_power_off:
 	result |= inv_mpu6050_set_power_itg(st, false);
 fifo_rate_fail_unlock:
@@ -795,8 +812,13 @@ inv_get_mount_matrix(const struct iio_dev *indio_dev,
 		     const struct iio_chan_spec *chan)
 {
 	struct inv_mpu6050_state *data = iio_priv(indio_dev);
+	const struct iio_mount_matrix *matrix = &data->orientation;
 
-	return &data->orientation;
+#ifdef CONFIG_INV_MPU6050_MAGN
+	if (chan->type == IIO_MAGN)
+		matrix = &data->magn_orient;
+#endif
+	return matrix;
 }
 
 static const struct iio_chan_spec_ext_info inv_ext_info[] = {
@@ -864,6 +886,102 @@ static const unsigned long inv_mpu_scan_masks[] = {
 	0,
 };
 
+#ifdef CONFIG_INV_MPU6050_MAGN
+
+#define INV_MPU9X50_MAGN_CHAN(_chan2, _bits, _index)			\
+	{								\
+		.type = IIO_MAGN,					\
+		.modified = 1,						\
+		.channel2 = _chan2,					\
+		.info_mask_separate = BIT(IIO_CHAN_INFO_SCALE) |	\
+				      BIT(IIO_CHAN_INFO_RAW),		\
+		.scan_index = _index,					\
+		.scan_type = {						\
+			.sign = 's',					\
+			.realbits = _bits,				\
+			.storagebits = 16,				\
+			.shift = 0,					\
+			.endianness = IIO_BE,				\
+		},							\
+		.ext_info = inv_ext_info,				\
+	}
+
+static const struct iio_chan_spec inv_mpu9250_channels[] = {
+	IIO_CHAN_SOFT_TIMESTAMP(INV_MPU9X50_SCAN_TIMESTAMP),
+	/*
+	 * Note that temperature should only be via polled reading only,
+	 * not the final scan elements output.
+	 */
+	{
+		.type = IIO_TEMP,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
+				| BIT(IIO_CHAN_INFO_OFFSET)
+				| BIT(IIO_CHAN_INFO_SCALE),
+		.scan_index = -1,
+	},
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU9X50_SCAN_GYRO_X),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU9X50_SCAN_GYRO_Y),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU9X50_SCAN_GYRO_Z),
+
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_MPU9X50_SCAN_ACCL_X),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_MPU9X50_SCAN_ACCL_Y),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU9X50_SCAN_ACCL_Z),
+
+	/* Magnetometer resolution is 16 bits */
+	INV_MPU9X50_MAGN_CHAN(IIO_MOD_X, 16, INV_MPU9X50_SCAN_MAGN_X),
+	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Y, 16, INV_MPU9X50_SCAN_MAGN_Y),
+	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
+};
+
+static const unsigned long inv_mpu9x50_scan_masks[] = {
+	/* 3-axis accel */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z),
+	/* 3-axis gyro */
+	BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z),
+	/* 3-axis magn */
+	BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	/* 6-axis accel + gyro */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
+		| BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z),
+	/* 6-axis accel + magn */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
+		| BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	/* 6-axis gyro + magn */
+	BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z)
+		| BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	/* 9-axis accel + gyro + magn */
+	BIT(INV_MPU9X50_SCAN_ACCL_X)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Y)
+		| BIT(INV_MPU9X50_SCAN_ACCL_Z)
+		| BIT(INV_MPU9X50_SCAN_GYRO_X)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Y)
+		| BIT(INV_MPU9X50_SCAN_GYRO_Z)
+		| BIT(INV_MPU9X50_SCAN_MAGN_X)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
+		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	0,
+};
+
+#endif
+
 static const struct iio_chan_spec inv_icm20602_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
 	{
@@ -1145,6 +1263,11 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 		return result;
 	}
 
+	/* fill magnetometer orientation */
+	result = inv_mpu_magn_set_orient(st);
+	if (result)
+		return result;
+
 	/* power is turned on inside check chip type*/
 	result = inv_check_and_setup_chip(st);
 	if (result)
@@ -1167,14 +1290,25 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 	else
 		indio_dev->name = dev_name(dev);
 
-	if (chip_type == INV_ICM20602) {
+	switch (chip_type) {
+#ifdef CONFIG_INV_MPU6050_MAGN
+	case INV_MPU9250:
+	case INV_MPU9255:
+		indio_dev->channels = inv_mpu9250_channels;
+		indio_dev->num_channels = ARRAY_SIZE(inv_mpu9250_channels);
+		indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
+		break;
+#endif
+	case INV_ICM20602:
 		indio_dev->channels = inv_icm20602_channels;
 		indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
 		indio_dev->available_scan_masks = inv_icm20602_scan_masks;
-	} else {
+		break;
+	default:
 		indio_dev->channels = inv_mpu_channels;
 		indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 		indio_dev->available_scan_masks = inv_mpu_scan_masks;
+		break;
 	}
 
 	indio_dev->info = &mpu_info;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 5b462672bbcb..cfc11cb0a36c 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -130,6 +130,7 @@ struct inv_mpu6050_hw {
  *  @data_timestamp:	timestamp for next data sample.
  *  @vddio_supply	voltage regulator for the chip.
  *  @magn_raw_to_gauss:	coefficient to convert mag raw value to Gauss.
+ *  @magn_orient:	magnetometer sensor chip orientation if available.
  */
 struct inv_mpu6050_state {
 	struct mutex lock;
@@ -153,6 +154,7 @@ struct inv_mpu6050_state {
 	struct regulator *vddio_supply;
 #ifdef CONFIG_INV_MPU6050_MAGN
 	s32 magn_raw_to_gauss[3];
+	struct iio_mount_matrix magn_orient;
 #endif
 };
 
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
new file mode 100644
index 000000000000..2bb40dae0429
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c
@@ -0,0 +1,120 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#include <linux/kernel.h>
+#include <linux/device.h>
+#include <linux/string.h>
+
+#include "inv_mpu_iio.h"
+#include "inv_mpu_aux.h"
+#include "inv_mpu9250_magn.h"
+
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+	int ret;
+
+	/* probe and init mag chip */
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		/* configure i2c master aux port */
+		ret = inv_mpu_aux_init(st);
+		if (ret)
+			return ret;
+		return inv_mpu9250_magn_probe(st);
+	default:
+		break;
+	}
+
+	return 0;
+}
+
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate)
+{
+	int max_freq;
+	uint8_t d;
+
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		max_freq = INV_MPU9250_MAGN_FREQ_HZ_MAX;
+		break;
+	default:
+		return 0;
+	}
+
+	/*
+	 * update i2c master delay to limit mag sampling to max frequency
+	 * compute fifo_rate divider d: rate = fifo_rate / (d + 1)
+	 */
+	if (fifo_rate > max_freq)
+		d = fifo_rate / max_freq - 1;
+	else
+		d = 0;
+
+	return regmap_write(st->map, INV_MPU6050_REG_I2C_SLV4_CTRL, d);
+}
+
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+	const char *orient;
+	char *str;
+	int i;
+
+	/* fill magnetometer orientation */
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		/* x <- y */
+		st->magn_orient.rotation[0] = st->orientation.rotation[3];
+		st->magn_orient.rotation[1] = st->orientation.rotation[4];
+		st->magn_orient.rotation[2] = st->orientation.rotation[5];
+		/* y <- x */
+		st->magn_orient.rotation[3] = st->orientation.rotation[0];
+		st->magn_orient.rotation[4] = st->orientation.rotation[1];
+		st->magn_orient.rotation[5] = st->orientation.rotation[2];
+		/* z <- -z */
+		for (i = 0; i < 3; ++i) {
+			orient = st->orientation.rotation[6 + i];
+			/* use length + 2 for adding minus sign if needed */
+			str = devm_kzalloc(regmap_get_device(st->map),
+					   strlen(orient) + 2, GFP_KERNEL);
+			if (str == NULL)
+				return -ENOMEM;
+			if (strcmp(orient, "0") == 0) {
+				strcpy(str, orient);
+			} else if (orient[0] == '-') {
+				strcpy(str, &orient[1]);
+			} else {
+				str[0] = '-';
+				strcpy(&str[1], orient);
+			}
+			st->magn_orient.rotation[6 + i] = str;
+		}
+		break;
+	default:
+		st->magn_orient = st->orientation;
+		break;
+	}
+
+	return 0;
+}
+
+int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val)
+{
+	int ret;
+
+	switch (st->chip_type) {
+	case INV_MPU9250:
+	case INV_MPU9255:
+		ret = inv_mpu9250_magn_read(st, axis, val);
+		break;
+	default:
+		ret = -ENODEV;
+		break;
+	}
+
+	return ret;
+}
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
new file mode 100644
index 000000000000..efa2ec1b3b2f
--- /dev/null
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h
@@ -0,0 +1,107 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Copyright (C) 2019 TDK-InvenSense, Inc.
+ */
+
+#ifndef INV_MPU_MAGN_H_
+#define INV_MPU_MAGN_H_
+
+#include <linux/kernel.h>
+
+#include "inv_mpu_iio.h"
+
+#ifdef CONFIG_INV_MPU6050_MAGN
+
+/**
+ * inv_mpu_magn_probe() - probe and setup magnetometer chip
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * It is probing the chip and setting up all needed i2c transfers.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_probe(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_get_scale() - get magnetometer scale value
+ * @st: driver internal state
+ *
+ * Returns IIO data format.
+ */
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+					 const struct iio_chan_spec *chan,
+					 int *val, int *val2)
+{
+	*val = 0;
+	*val2 = st->magn_raw_to_gauss[chan->address];
+	return IIO_VAL_INT_PLUS_MICRO;
+}
+
+/**
+ * inv_mpu_magn_set_rate() - set magnetometer sampling rate
+ * @st: driver internal state
+ * @fifo_rate: mpu set fifo rate
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Limit sampling frequency to the maximum value supported by the
+ * magnetometer chip. Resulting in duplicated data for higher frequencies.
+ * Noop if there is no magnetometer in the chip.
+ */
+int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st, int fifo_rate);
+
+/**
+ * inv_mpu_magn_set_orient() - fill magnetometer mounting matrix
+ * @st: driver internal state
+ *
+ * Returns 0 on success, a negative error code otherwise
+ *
+ * Fill magnetometer mounting matrix using the provided chip matrix.
+ */
+int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st);
+
+/**
+ * inv_mpu_magn_read() - read magnetometer data
+ * @st: driver internal state
+ * @axis: IIO modifier axis value
+ * @val: store corresponding axis value
+ *
+ * Returns 0 on success, a negative error code otherwise
+ */
+int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis, int *val);
+
+#else		/* CONFIG_INV_MPU6050_MAGN */
+
+static inline int inv_mpu_magn_probe(struct inv_mpu6050_state *st)
+{
+	return 0;
+}
+
+static inline int inv_mpu_magn_get_scale(const struct inv_mpu6050_state *st,
+					 const struct iio_chan_spec *chan,
+					 int *val, int *val2)
+{
+	return -EINVAL;
+}
+
+static inline int inv_mpu_magn_set_rate(const struct inv_mpu6050_state *st,
+					int fifo_rate)
+{
+	return 0;
+}
+
+static inline int inv_mpu_magn_set_orient(struct inv_mpu6050_state *st)
+{
+	return 0;
+}
+
+static inline int inv_mpu_magn_read(const struct inv_mpu6050_state *st, int axis,
+				    int *val)
+{
+	return 0;
+}
+
+#endif		/* CONFIG_INV_MPU6050_MAGN */
+
+#endif		/* INV_MPU_MAGN_H_ */
