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,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   i2c-gate:
  52     $ref: /schemas/i2c/i2c-controller.yaml
  53     unevaluatedProperties: false
  54     description: |
  55       These devices also support an auxiliary i2c bus via an i2c-gate.
  56
  57 allOf:
  58   - $ref: /schemas/spi/spi-peripheral-props.yaml#
  59   - if:
  60       not:
  61         properties:
  62           compatible:
  63             contains:
  64               enum:
  65                 - invensense,mpu9150
  66                 - invensense,mpu9250
  67                 - invensense,mpu9255
  68     then:
  69       properties:
  70         i2c-gate: false
  71
  72 unevaluatedProperties: false
  73
  74 required:
  75   - compatible
  76   - reg
  77   - interrupts
  78
  79 examples:
  80   - |
  81     #include <dt-bindings/interrupt-controller/irq.h>
  82     i2c {
  83         #address-cells = <1>;
  84         #size-cells = <0>;
  85
  86         imu@68 {
  87             compatible = "invensense,mpu9250";
  88             reg = <0x68>;
  89             interrupt-parent = <&gpio3>;
  90             interrupts = <21 IRQ_TYPE_LEVEL_HIGH>;
  91             mount-matrix = "-0.984807753012208",  /* x0 */
  92                            "0",                   /* y0 */
  93                            "-0.173648177666930",  /* z0 */
  94                            "0",                   /* x1 */
  95                            "-1",                  /* y1 */
  96                            "0",                   /* z1 */
  97                            "-0.173648177666930",  /* x2 */
  98                            "0",                   /* y2 */
  99                            "0.984807753012208";   /* z2 */
 100             i2c-gate {
 101                 #address-cells = <1>;
 102                 #size-cells = <0>;
 103                 magnetometer@c {
 104                     compatible = "asahi-kasei,ak8975";
 105                     reg = <0x0c>;
 106                 };
 107             };
 108         };
 109     };
 110 ...