diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 650de0fefb7b..fedd3f2b0135 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -471,7 +471,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 			return IIO_VAL_INT_PLUS_MICRO;
 		case IIO_TEMP:
 			*val = 0;
-			*val2 = INV_MPU6050_TEMP_SCALE;
+			if (st->chip_type == INV_ICM20602)
+				*val2 = INV_ICM20602_TEMP_SCALE;
+			else
+				*val2 = INV_MPU6050_TEMP_SCALE;
 
 			return IIO_VAL_INT_PLUS_MICRO;
 		default:
@@ -480,7 +483,10 @@ inv_mpu6050_read_raw(struct iio_dev *indio_dev,
 	case IIO_CHAN_INFO_OFFSET:
 		switch (chan->type) {
 		case IIO_TEMP:
-			*val = INV_MPU6050_TEMP_OFFSET;
+			if (st->chip_type == INV_ICM20602)
+				*val = INV_ICM20602_TEMP_OFFSET;
+			else
+				*val = INV_MPU6050_TEMP_OFFSET;
 
 			return IIO_VAL_INT;
 		default:
@@ -845,6 +851,32 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
 	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 };
 
+static const struct iio_chan_spec inv_icm20602_channels[] = {
+	IIO_CHAN_SOFT_TIMESTAMP(INV_ICM20602_SCAN_TIMESTAMP),
+	{
+		.type = IIO_TEMP,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
+				| BIT(IIO_CHAN_INFO_OFFSET)
+				| BIT(IIO_CHAN_INFO_SCALE),
+		.scan_index = INV_ICM20602_SCAN_GYRO_TEMP,
+		.scan_type = {
+				.sign = 's',
+				.realbits = 16,
+				.storagebits = 16,
+				.shift = 0,
+				.endianness = IIO_BE,
+			     },
+	},
+
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_ICM20602_SCAN_GYRO_X),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_ICM20602_SCAN_GYRO_Y),
+	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_ICM20602_SCAN_GYRO_Z),
+
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Y, INV_ICM20602_SCAN_ACCL_Y),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_X, INV_ICM20602_SCAN_ACCL_X),
+	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_ICM20602_SCAN_ACCL_Z),
+};
+
 /*
  * The user can choose any frequency between INV_MPU6050_MIN_FIFO_RATE and
  * INV_MPU6050_MAX_FIFO_RATE, but only these frequencies are matched by the
@@ -1100,8 +1132,14 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 		indio_dev->name = name;
 	else
 		indio_dev->name = dev_name(dev);
-	indio_dev->channels = inv_mpu_channels;
-	indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+
+	if (chip_type == INV_ICM20602) {
+		indio_dev->channels = inv_icm20602_channels;
+		indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
+	} else {
+		indio_dev->channels = inv_mpu_channels;
+		indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
+	}
 
 	indio_dev->info = &mpu_info;
 	indio_dev->modes = INDIO_BUFFER_TRIGGERED;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index 325afd9f5f61..eb04391feaa8 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -208,6 +208,9 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BYTES_PER_3AXIS_SENSOR   6
 #define INV_MPU6050_FIFO_COUNT_BYTE          2
 
+/* ICM20602 gyro data includes temperature */
+#define INV_ICM20602_BYTES_PER_GYRO_SENSOR   8
+
 /* mpu6500 registers */
 #define INV_MPU6500_REG_ACCEL_CONFIG_2      0x1D
 #define INV_MPU6500_REG_ACCEL_OFFSET        0x77
@@ -229,6 +232,9 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_GYRO_CONFIG_FSR_SHIFT    3
 #define INV_MPU6050_ACCL_CONFIG_FSR_SHIFT    3
 
+#define INV_ICM20602_TEMP_OFFSET	     8170
+#define INV_ICM20602_TEMP_SCALE		     3060
+
 /* 6 + 6 round up and plus 8 */
 #define INV_MPU6050_OUTPUT_DATA_SIZE         24
 
@@ -270,7 +276,7 @@ struct inv_mpu6050_state {
 #define INV_ICM20608_WHOAMI_VALUE		0xAF
 #define INV_ICM20602_WHOAMI_VALUE		0x12
 
-/* scan element definition */
+/* scan element definition for generic MPU6xxx devices */
 enum inv_mpu6050_scan {
 	INV_MPU6050_SCAN_ACCL_X,
 	INV_MPU6050_SCAN_ACCL_Y,
@@ -281,6 +287,18 @@ enum inv_mpu6050_scan {
 	INV_MPU6050_SCAN_TIMESTAMP,
 };
 
+/* scan element definition for ICM20602, which includes gyro temp */
+enum inv_icm20602_scan {
+	INV_ICM20602_SCAN_ACCL_X,
+	INV_ICM20602_SCAN_ACCL_Y,
+	INV_ICM20602_SCAN_ACCL_Z,
+	INV_ICM20602_SCAN_GYRO_TEMP,
+	INV_ICM20602_SCAN_GYRO_X,
+	INV_ICM20602_SCAN_GYRO_Y,
+	INV_ICM20602_SCAN_GYRO_Z,
+	INV_ICM20602_SCAN_TIMESTAMP,
+};
+
 enum inv_mpu6050_filter_e {
 	INV_MPU6050_FILTER_256HZ_NOLPF2 = 0,
 	INV_MPU6050_FILTER_188HZ,
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
index 548e042f7b5b..20828d6a13f9 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -204,8 +204,12 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 	if (st->chip_config.accl_fifo_enable)
 		bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
 
-	if (st->chip_config.gyro_fifo_enable)
-		bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
+	if (st->chip_config.gyro_fifo_enable) {
+		if (st->chip_type == INV_ICM20602)
+			bytes_per_datum += INV_ICM20602_BYTES_PER_GYRO_SENSOR;
+		else
+			bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
+	}
 
 	/*
 	 * read fifo_count register to know how many bytes are inside the FIFO
