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
7title: InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device
8
9maintainers:
10  - Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
11
12description: |
13  These devices support both I2C and SPI bus interfaces.
14
15properties:
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
62allOf:
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
78unevaluatedProperties: false
79
80required:
81  - compatible
82  - reg
83  - interrupts
84
85examples:
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...
117