1InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device 2 3http://www.invensense.com/mems/gyro/mpu6050.html 4 5Required properties: 6 - compatible : should be one of 7 "invensense,mpu6000" 8 "invensense,mpu6050" 9 "invensense,mpu6500" 10 "invensense,mpu6515" 11 "invensense,mpu9150" 12 "invensense,mpu9250" 13 "invensense,mpu9255" 14 "invensense,icm20608" 15 "invensense,icm20609" 16 "invensense,icm20689" 17 "invensense,icm20602" 18 "invensense,icm20690" 19 "invensense,iam20680" 20 - reg : the I2C address of the sensor 21 - interrupts: interrupt mapping for IRQ. It should be configured with flags 22 IRQ_TYPE_LEVEL_HIGH, IRQ_TYPE_EDGE_RISING, IRQ_TYPE_LEVEL_LOW or 23 IRQ_TYPE_EDGE_FALLING. 24 25 Refer to interrupt-controller/interrupts.txt for generic interrupt client node 26 bindings. 27 28Optional properties: 29 - vdd-supply: regulator phandle for VDD supply 30 - vddio-supply: regulator phandle for VDDIO supply 31 - mount-matrix: an optional 3x3 mounting rotation matrix 32 - i2c-gate node. These devices also support an auxiliary i2c bus. This is 33 simple enough to be described using the i2c-gate binding. See 34 i2c/i2c-gate.txt for more details. 35 36Example: 37 mpu6050@68 { 38 compatible = "invensense,mpu6050"; 39 reg = <0x68>; 40 interrupt-parent = <&gpio1>; 41 interrupts = <18 IRQ_TYPE_EDGE_RISING>; 42 mount-matrix = "-0.984807753012208", /* x0 */ 43 "0", /* y0 */ 44 "-0.173648177666930", /* z0 */ 45 "0", /* x1 */ 46 "-1", /* y1 */ 47 "0", /* z1 */ 48 "-0.173648177666930", /* x2 */ 49 "0", /* y2 */ 50 "0.984807753012208"; /* z2 */ 51 }; 52 53 54 mpu9250@68 { 55 compatible = "invensense,mpu9250"; 56 reg = <0x68>; 57 interrupt-parent = <&gpio3>; 58 interrupts = <21 IRQ_TYPE_LEVEL_HIGH>; 59 i2c-gate { 60 #address-cells = <1>; 61 #size-cells = <0>; 62 ax8975@c { 63 compatible = "ak,ak8975"; 64 reg = <0x0c>; 65 }; 66 }; 67 }; 68