| # SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause) |
| %YAML 1.2 |
| --- |
| $id: http://devicetree.org/schemas/iio/imu/invensense,mpu6050.yaml# |
| $schema: http://devicetree.org/meta-schemas/core.yaml# |
| |
| title: InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device |
| |
| maintainers: |
| - Jean-Baptiste Maneyrol <jmaneyrol@invensense.com> |
| |
| description: | |
| These devices support both I2C and SPI bus interfaces. |
| |
| properties: |
| compatible: |
| enum: |
| - invensense,iam20680 |
| - invensense,icm20608 |
| - invensense,icm20609 |
| - invensense,icm20689 |
| - invensense,icm20602 |
| - invensense,icm20690 |
| - invensense,mpu6000 |
| - invensense,mpu6050 |
| - invensense,mpu6500 |
| - invensense,mpu6515 |
| - invensense,mpu6880 |
| - invensense,mpu9150 |
| - invensense,mpu9250 |
| - invensense,mpu9255 |
| |
| reg: |
| maxItems: 1 |
| |
| interrupts: |
| maxItems: 1 |
| |
| spi-max-frequency: true |
| |
| vdd-supply: true |
| vddio-supply: true |
| |
| mount-matrix: true |
| |
| i2c-gate: |
| $ref: /schemas/i2c/i2c-controller.yaml |
| unevaluatedProperties: false |
| description: | |
| These devices also support an auxiliary i2c bus via an i2c-gate. |
| |
| allOf: |
| - if: |
| not: |
| properties: |
| compatible: |
| contains: |
| enum: |
| - invensense,mpu9150 |
| - invensense,mpu9250 |
| - invensense,mpu9255 |
| then: |
| properties: |
| i2c-gate: false |
| |
| additionalProperties: false |
| |
| required: |
| - compatible |
| - reg |
| - interrupts |
| |
| examples: |
| - | |
| #include <dt-bindings/interrupt-controller/irq.h> |
| i2c { |
| #address-cells = <1>; |
| #size-cells = <0>; |
| |
| imu@68 { |
| compatible = "invensense,mpu9250"; |
| reg = <0x68>; |
| interrupt-parent = <&gpio3>; |
| interrupts = <21 IRQ_TYPE_LEVEL_HIGH>; |
| mount-matrix = "-0.984807753012208", /* x0 */ |
| "0", /* y0 */ |
| "-0.173648177666930", /* z0 */ |
| "0", /* x1 */ |
| "-1", /* y1 */ |
| "0", /* z1 */ |
| "-0.173648177666930", /* x2 */ |
| "0", /* y2 */ |
| "0.984807753012208"; /* z2 */ |
| i2c-gate { |
| #address-cells = <1>; |
| #size-cells = <0>; |
| magnetometer@c { |
| compatible = "ak,ak8975"; |
| reg = <0x0c>; |
| }; |
| }; |
| }; |
| }; |
| ... |
