1 # SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause)
2 %YAML 1.2
3 ---
4 $id: http://devicetree.org/schemas/iio/imu/invensense,mpu6050.yaml#
5 $schema: http://devicetree.org/meta-schemas/core.yaml#
6
7 title: InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device
8
9 maintainers:
10 - Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
11
12 description: |
13 These devices support both I2C and SPI bus interfaces.
14
15 properties:
16 compatible:
17 oneOf:
18 - enum:
19 - invensense,iam20680
20 - invensense,icm20608
21 - invensense,icm20609
22 - invensense,icm20689
23 - invensense,icm20602
24 - invensense,icm20690
25 - invensense,mpu6000
26 - invensense,mpu6050
27 - invensense,mpu6500
28 - invensense,mpu6515
29 - invensense,mpu6880
30 - invensense,mpu9150
31 - invensense,mpu9250
32 - invensense,mpu9255
33 - items:
34 - const: invensense,icm20600
35 - const: invensense,icm20602
36 - items:
37 - const: invensense,icm20608d
38 - const: invensense,icm20608
39
40 reg:
41 maxItems: 1
42
43 interrupts:
44 maxItems: 1
45
46 vdd-supply: true
47 vddio-supply: true
48
49 mount-matrix: true
50
51 invensense,level-shifter:
52 type: boolean
53 description: |
54 From ancient platform data struct: false: VLogic, true: VDD
55
56 i2c-gate:
57 $ref: /schemas/i2c/i2c-controller.yaml
58 unevaluatedProperties: false
59 description: |
60 These devices also support an auxiliary i2c bus via an i2c-gate.
61
62 allOf:
63 - $ref: /schemas/spi/spi-peripheral-props.yaml#
64 - if:
65 properties:
66 compatible:
67 contains:
68 enum:
69 - invensense,iam20680
70 - invensense,icm20602
71 - invensense,icm20608
72 - invensense,icm20609
73 - invensense,icm20689
74 then:
75 properties:
76 i2c-gate: false
77
78 unevaluatedProperties: false
79
80 required:
81 - compatible
82 - reg
83 - interrupts
84
85 examples:
86 - |
87 #include <dt-bindings/interrupt-controller/irq.h>
88 i2c {
89 #address-cells = <1>;
90 #size-cells = <0>;
91
92 imu@68 {
93 compatible = "invensense,mpu9250";
94 reg = <0x68>;
95 interrupt-parent = <&gpio3>;
96 interrupts = <21 IRQ_TYPE_LEVEL_HIGH>;
97 mount-matrix = "-0.984807753012208", /* x0 */
98 "0", /* y0 */
99 "-0.173648177666930", /* z0 */
100 "0", /* x1 */
101 "-1", /* y1 */
102 "0", /* z1 */
103 "-0.173648177666930", /* x2 */
104 "0", /* y2 */
105 "0.984807753012208"; /* z2 */
106 i2c-gate {
107 #address-cells = <1>;
108 #size-cells = <0>;
109 magnetometer@c {
110 compatible = "asahi-kasei,ak8975";
111 reg = <0x0c>;
112 };
113 };
114 };
115 };
116 ...
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