diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 268240644adf..7c2f6951364d 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -104,6 +104,7 @@ static const struct inv_mpu6050_chip_config chip_config_6050 = {
 	.divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
 	.gyro_fifo_enable = false,
 	.accl_fifo_enable = false,
+	.temp_fifo_enable = false,
 	.magn_fifo_enable = false,
 	.accl_fs = INV_MPU6050_FS_02G,
 	.user_ctrl = 0,
@@ -856,19 +857,27 @@ static const struct iio_chan_spec_ext_info inv_ext_info[] = {
 		.ext_info = inv_ext_info,                             \
 	}
 
+#define INV_MPU6050_TEMP_CHAN(_index)				\
+	{							\
+		.type = IIO_TEMP,				\
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)	\
+				| BIT(IIO_CHAN_INFO_OFFSET)	\
+				| BIT(IIO_CHAN_INFO_SCALE),	\
+		.scan_index = _index,				\
+		.scan_type = {					\
+			.sign = 's',				\
+			.realbits = 16,				\
+			.storagebits = 16,			\
+			.shift = 0,				\
+			.endianness = IIO_BE,			\
+		},						\
+	}
+
 static const struct iio_chan_spec inv_mpu_channels[] = {
 	IIO_CHAN_SOFT_TIMESTAMP(INV_MPU6050_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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
@@ -878,22 +887,31 @@ static const struct iio_chan_spec inv_mpu_channels[] = {
 	INV_MPU6050_CHAN(IIO_ACCEL, IIO_MOD_Z, INV_MPU6050_SCAN_ACCL_Z),
 };
 
+#define INV_MPU6050_SCAN_MASK_3AXIS_ACCEL	\
+	(BIT(INV_MPU6050_SCAN_ACCL_X)		\
+	| BIT(INV_MPU6050_SCAN_ACCL_Y)		\
+	| BIT(INV_MPU6050_SCAN_ACCL_Z))
+
+#define INV_MPU6050_SCAN_MASK_3AXIS_GYRO	\
+	(BIT(INV_MPU6050_SCAN_GYRO_X)		\
+	| BIT(INV_MPU6050_SCAN_GYRO_Y)		\
+	| BIT(INV_MPU6050_SCAN_GYRO_Z))
+
+#define INV_MPU6050_SCAN_MASK_TEMP		(BIT(INV_MPU6050_SCAN_TEMP))
+
+/* generate scan mask and a duplicate with temperature enabled */
+#define INV_MPU6050_SCAN_MASK_DUP_TEMP(_mask)	\
+	(_mask),				\
+	(_mask) | INV_MPU6050_SCAN_MASK_TEMP
+
 static const unsigned long inv_mpu_scan_masks[] = {
 	/* 3-axis accel */
-	BIT(INV_MPU6050_SCAN_ACCL_X)
-		| BIT(INV_MPU6050_SCAN_ACCL_Y)
-		| BIT(INV_MPU6050_SCAN_ACCL_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL),
 	/* 3-axis gyro */
-	BIT(INV_MPU6050_SCAN_GYRO_X)
-		| BIT(INV_MPU6050_SCAN_GYRO_Y)
-		| BIT(INV_MPU6050_SCAN_GYRO_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
 	/* 6-axis accel + gyro */
-	BIT(INV_MPU6050_SCAN_ACCL_X)
-		| BIT(INV_MPU6050_SCAN_ACCL_Y)
-		| BIT(INV_MPU6050_SCAN_ACCL_Z)
-		| BIT(INV_MPU6050_SCAN_GYRO_X)
-		| BIT(INV_MPU6050_SCAN_GYRO_Y)
-		| BIT(INV_MPU6050_SCAN_GYRO_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
+			| INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
 	0,
 };
 
@@ -917,17 +935,9 @@ static const unsigned long inv_mpu_scan_masks[] = {
 
 static const struct iio_chan_spec inv_mpu9150_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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
@@ -944,17 +954,9 @@ static const struct iio_chan_spec inv_mpu9150_channels[] = {
 
 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_TEMP_CHAN(INV_MPU6050_SCAN_TEMP),
+
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_X, INV_MPU6050_SCAN_GYRO_X),
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Y, INV_MPU6050_SCAN_GYRO_Y),
 	INV_MPU6050_CHAN(IIO_ANGL_VEL, IIO_MOD_Z, INV_MPU6050_SCAN_GYRO_Z),
@@ -969,98 +971,42 @@ static const struct iio_chan_spec inv_mpu9250_channels[] = {
 	INV_MPU9X50_MAGN_CHAN(IIO_MOD_Z, 16, INV_MPU9X50_SCAN_MAGN_Z),
 };
 
+#define INV_MPU9X50_SCAN_MASK_3AXIS_MAGN	\
+	(BIT(INV_MPU9X50_SCAN_MAGN_X)		\
+	| BIT(INV_MPU9X50_SCAN_MAGN_Y)		\
+	| BIT(INV_MPU9X50_SCAN_MAGN_Z))
+
 static const unsigned long inv_mpu9x50_scan_masks[] = {
 	/* 3-axis accel */
-	BIT(INV_MPU6050_SCAN_ACCL_X)
-		| BIT(INV_MPU6050_SCAN_ACCL_Y)
-		| BIT(INV_MPU6050_SCAN_ACCL_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL),
 	/* 3-axis gyro */
-	BIT(INV_MPU6050_SCAN_GYRO_X)
-		| BIT(INV_MPU6050_SCAN_GYRO_Y)
-		| BIT(INV_MPU6050_SCAN_GYRO_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
 	/* 3-axis magn */
-	BIT(INV_MPU9X50_SCAN_MAGN_X)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
 	/* 6-axis accel + gyro */
-	BIT(INV_MPU6050_SCAN_ACCL_X)
-		| BIT(INV_MPU6050_SCAN_ACCL_Y)
-		| BIT(INV_MPU6050_SCAN_ACCL_Z)
-		| BIT(INV_MPU6050_SCAN_GYRO_X)
-		| BIT(INV_MPU6050_SCAN_GYRO_Y)
-		| BIT(INV_MPU6050_SCAN_GYRO_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
+			| INV_MPU6050_SCAN_MASK_3AXIS_GYRO),
 	/* 6-axis accel + magn */
-	BIT(INV_MPU6050_SCAN_ACCL_X)
-		| BIT(INV_MPU6050_SCAN_ACCL_Y)
-		| BIT(INV_MPU6050_SCAN_ACCL_Z)
-		| BIT(INV_MPU9X50_SCAN_MAGN_X)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
+			| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
 	/* 6-axis gyro + magn */
-	BIT(INV_MPU6050_SCAN_GYRO_X)
-		| BIT(INV_MPU6050_SCAN_GYRO_Y)
-		| BIT(INV_MPU6050_SCAN_GYRO_Z)
-		| BIT(INV_MPU9X50_SCAN_MAGN_X)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+			| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
 	/* 9-axis accel + gyro + magn */
-	BIT(INV_MPU6050_SCAN_ACCL_X)
-		| BIT(INV_MPU6050_SCAN_ACCL_Y)
-		| BIT(INV_MPU6050_SCAN_ACCL_Z)
-		| BIT(INV_MPU6050_SCAN_GYRO_X)
-		| BIT(INV_MPU6050_SCAN_GYRO_Y)
-		| BIT(INV_MPU6050_SCAN_GYRO_Z)
-		| BIT(INV_MPU9X50_SCAN_MAGN_X)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Y)
-		| BIT(INV_MPU9X50_SCAN_MAGN_Z),
+	INV_MPU6050_SCAN_MASK_DUP_TEMP(INV_MPU6050_SCAN_MASK_3AXIS_ACCEL
+			| INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+			| INV_MPU9X50_SCAN_MASK_3AXIS_MAGN),
 	0,
 };
 
-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_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),
-};
-
 static const unsigned long inv_icm20602_scan_masks[] = {
 	/* 3-axis accel + temp (mandatory) */
-	BIT(INV_ICM20602_SCAN_ACCL_X)
-		| BIT(INV_ICM20602_SCAN_ACCL_Y)
-		| BIT(INV_ICM20602_SCAN_ACCL_Z)
-		| BIT(INV_ICM20602_SCAN_TEMP),
+	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_TEMP,
 	/* 3-axis gyro + temp (mandatory) */
-	BIT(INV_ICM20602_SCAN_GYRO_X)
-		| BIT(INV_ICM20602_SCAN_GYRO_Y)
-		| BIT(INV_ICM20602_SCAN_GYRO_Z)
-		| BIT(INV_ICM20602_SCAN_TEMP),
+	INV_MPU6050_SCAN_MASK_3AXIS_GYRO | INV_MPU6050_SCAN_MASK_TEMP,
 	/* 6-axis accel + gyro + temp (mandatory) */
-	BIT(INV_ICM20602_SCAN_ACCL_X)
-		| BIT(INV_ICM20602_SCAN_ACCL_Y)
-		| BIT(INV_ICM20602_SCAN_ACCL_Z)
-		| BIT(INV_ICM20602_SCAN_GYRO_X)
-		| BIT(INV_ICM20602_SCAN_GYRO_Y)
-		| BIT(INV_ICM20602_SCAN_GYRO_Z)
-		| BIT(INV_ICM20602_SCAN_TEMP),
+	INV_MPU6050_SCAN_MASK_3AXIS_ACCEL | INV_MPU6050_SCAN_MASK_3AXIS_GYRO
+			| INV_MPU6050_SCAN_MASK_TEMP,
 	0,
 };
 
@@ -1363,8 +1309,8 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
 		indio_dev->available_scan_masks = inv_mpu9x50_scan_masks;
 		break;
 	case INV_ICM20602:
-		indio_dev->channels = inv_icm20602_channels;
-		indio_dev->num_channels = ARRAY_SIZE(inv_icm20602_channels);
+		indio_dev->channels = inv_mpu_channels;
+		indio_dev->num_channels = ARRAY_SIZE(inv_mpu_channels);
 		indio_dev->available_scan_masks = inv_icm20602_scan_masks;
 		break;
 	default:
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index b096e010d4ee..6158fca7f70e 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -86,6 +86,7 @@ enum inv_devices {
  *  @accl_fs:		accel full scale range.
  *  @accl_fifo_enable:	enable accel data output
  *  @gyro_fifo_enable:	enable gyro data output
+ *  @temp_fifo_enable:	enable temp data output
  *  @magn_fifo_enable:	enable magn data output
  *  @divider:		chip sample rate divider (sample rate divider - 1)
  */
@@ -95,6 +96,7 @@ struct inv_mpu6050_chip_config {
 	unsigned int accl_fs:2;
 	unsigned int accl_fifo_enable:1;
 	unsigned int gyro_fifo_enable:1;
+	unsigned int temp_fifo_enable:1;
 	unsigned int magn_fifo_enable:1;
 	u8 divider;
 	u8 user_ctrl;
@@ -184,6 +186,7 @@ struct inv_mpu6050_state {
 #define INV_MPU6050_BIT_SLAVE_2             0x04
 #define INV_MPU6050_BIT_ACCEL_OUT           0x08
 #define INV_MPU6050_BITS_GYRO_OUT           0x70
+#define INV_MPU6050_BIT_TEMP_OUT            0x80
 
 #define INV_MPU6050_REG_I2C_MST_CTRL        0x24
 #define INV_MPU6050_BITS_I2C_MST_CLK_400KHZ 0x0D
@@ -268,8 +271,8 @@ struct inv_mpu6050_state {
 /* MPU9X50 9-axis magnetometer */
 #define INV_MPU9X50_BYTES_MAGN               7
 
-/* ICM20602 FIFO samples include temperature readings */
-#define INV_ICM20602_BYTES_PER_TEMP_SENSOR   2
+/* FIFO temperature sample size */
+#define INV_MPU6050_BYTES_PER_TEMP_SENSOR   2
 
 /* mpu6500 registers */
 #define INV_MPU6500_REG_ACCEL_CONFIG_2      0x1D
@@ -298,7 +301,7 @@ struct inv_mpu6050_state {
 #define INV_ICM20608_TEMP_OFFSET	     8170
 #define INV_ICM20608_TEMP_SCALE		     3059976
 
-/* 6 + 6 + 7 (for MPU9x50) = 19 round up to 24 and plus 8 */
+/* 6 + 6 + 2 + 7 (for MPU9x50) = 21 round up to 24 and plus 8 */
 #define INV_MPU6050_OUTPUT_DATA_SIZE         32
 
 #define INV_MPU6050_REG_INT_PIN_CFG	0x37
@@ -344,6 +347,7 @@ enum inv_mpu6050_scan {
 	INV_MPU6050_SCAN_ACCL_X,
 	INV_MPU6050_SCAN_ACCL_Y,
 	INV_MPU6050_SCAN_ACCL_Z,
+	INV_MPU6050_SCAN_TEMP,
 	INV_MPU6050_SCAN_GYRO_X,
 	INV_MPU6050_SCAN_GYRO_Y,
 	INV_MPU6050_SCAN_GYRO_Z,
@@ -355,18 +359,6 @@ enum inv_mpu6050_scan {
 	INV_MPU9X50_SCAN_TIMESTAMP,
 };
 
-/* scan element definition for ICM20602, which includes temperature */
-enum inv_icm20602_scan {
-	INV_ICM20602_SCAN_ACCL_X,
-	INV_ICM20602_SCAN_ACCL_Y,
-	INV_ICM20602_SCAN_ACCL_Z,
-	INV_ICM20602_SCAN_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 10d16ec5104b..3755577dc449 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c
@@ -142,6 +142,8 @@ int inv_reset_fifo(struct iio_dev *indio_dev)
 		d |= INV_MPU6050_BITS_GYRO_OUT;
 	if (st->chip_config.accl_fifo_enable)
 		d |= INV_MPU6050_BIT_ACCEL_OUT;
+	if (st->chip_config.temp_fifo_enable)
+		d |= INV_MPU6050_BIT_TEMP_OUT;
 	if (st->chip_config.magn_fifo_enable)
 		d |= INV_MPU6050_BIT_SLAVE_0;
 	result = regmap_write(st->map, st->reg->fifo_en, d);
@@ -200,8 +202,8 @@ irqreturn_t inv_mpu6050_read_fifo(int irq, void *p)
 	if (st->chip_config.gyro_fifo_enable)
 		bytes_per_datum += INV_MPU6050_BYTES_PER_3AXIS_SENSOR;
 
-	if (st->chip_type == INV_ICM20602)
-		bytes_per_datum += INV_ICM20602_BYTES_PER_TEMP_SENSOR;
+	if (st->chip_config.temp_fifo_enable)
+		bytes_per_datum += INV_MPU6050_BYTES_PER_TEMP_SENSOR;
 
 	if (st->chip_config.magn_fifo_enable)
 		bytes_per_datum += INV_MPU9X50_BYTES_MAGN;
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
index a9c75bc62f18..5199fe790c30 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c
@@ -24,6 +24,9 @@ static void inv_scan_query_mpu6050(struct iio_dev *indio_dev)
 			 indio_dev->active_scan_mask) ||
 		test_bit(INV_MPU6050_SCAN_ACCL_Z,
 			 indio_dev->active_scan_mask);
+
+	st->chip_config.temp_fifo_enable =
+		test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
 }
 
 static void inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
