Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml

   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,icm20608d
  35           - const: invensense,icm20608
  36
  37   reg:
  38     maxItems: 1
  39
  40   interrupts:
  41     maxItems: 1
  42
  43   vdd-supply: true
  44   vddio-supply: true
  45
  46   mount-matrix: true
  47
  48   i2c-gate:
  49     $ref: /schemas/i2c/i2c-controller.yaml
  50     unevaluatedProperties: false
  51     description: |
  52       These devices also support an auxiliary i2c bus via an i2c-gate.
  53
  54 allOf:
  55   - $ref: /schemas/spi/spi-peripheral-props.yaml#
  56   - if:
  57       not:
  58         properties:
  59           compatible:
  60             contains:
  61               enum:
  62                 - invensense,mpu9150
  63                 - invensense,mpu9250
  64                 - invensense,mpu9255
  65     then:
  66       properties:
  67         i2c-gate: false
  68
  69 unevaluatedProperties: false
  70
  71 required:
  72   - compatible
  73   - reg
  74   - interrupts
  75
  76 examples:
  77   - |
  78     #include <dt-bindings/interrupt-controller/irq.h>
  79     i2c {
  80         #address-cells = <1>;
  81         #size-cells = <0>;
  82
  83         imu@68 {
  84             compatible = "invensense,mpu9250";
  85             reg = <0x68>;
  86             interrupt-parent = <&gpio3>;
  87             interrupts = <21 IRQ_TYPE_LEVEL_HIGH>;
  88             mount-matrix = "-0.984807753012208",  /* x0 */
  89                            "0",                   /* y0 */
  90                            "-0.173648177666930",  /* z0 */
  91                            "0",                   /* x1 */
  92                            "-1",                  /* y1 */
  93                            "0",                   /* z1 */
  94                            "-0.173648177666930",  /* x2 */
  95                            "0",                   /* y2 */
  96                            "0.984807753012208";   /* z2 */
  97             i2c-gate {
  98                 #address-cells = <1>;
  99                 #size-cells = <0>;
 100                 magnetometer@c {
 101                     compatible = "asahi-kasei,ak8975";
 102                     reg = <0x0c>;
 103                 };
 104             };
 105         };
 106     };
 107 ...