xref: /linux/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml (revision 7f71507851fc7764b36a3221839607d3a45c2025) 
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 <jean-baptiste.maneyrol@tdk.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      - items:
40          - enum:
41              - invensense,iam20680hp
42              - invensense,iam20680ht
43          - const: invensense,iam20680
44
45  reg:
46    maxItems: 1
47
48  interrupts:
49    maxItems: 1
50
51  vdd-supply: true
52  vddio-supply: true
53
54  mount-matrix: true
55
56  invensense,level-shifter:
57    type: boolean
58    description: |
59      From ancient platform data struct: false: VLogic, true: VDD
60
61  i2c-gate:
62    $ref: /schemas/i2c/i2c-controller.yaml
63    unevaluatedProperties: false
64    description: |
65      These devices also support an auxiliary i2c bus via an i2c-gate.
66
67allOf:
68  - $ref: /schemas/spi/spi-peripheral-props.yaml#
69  - if:
70      properties:
71        compatible:
72          contains:
73            enum:
74              - invensense,iam20680
75              - invensense,icm20602
76              - invensense,icm20608
77              - invensense,icm20609
78              - invensense,icm20689
79    then:
80      properties:
81        i2c-gate: false
82
83unevaluatedProperties: false
84
85required:
86  - compatible
87  - reg
88  - interrupts
89
90examples:
91  - |
92    #include <dt-bindings/interrupt-controller/irq.h>
93    i2c {
94        #address-cells = <1>;
95        #size-cells = <0>;
96
97        imu@68 {
98            compatible = "invensense,mpu9250";
99            reg = <0x68>;
100            interrupt-parent = <&gpio3>;
101            interrupts = <21 IRQ_TYPE_LEVEL_HIGH>;
102            mount-matrix = "-0.984807753012208",  /* x0 */
103                           "0",                   /* y0 */
104                           "-0.173648177666930",  /* z0 */
105                           "0",                   /* x1 */
106                           "-1",                  /* y1 */
107                           "0",                   /* z1 */
108                           "-0.173648177666930",  /* x2 */
109                           "0",                   /* y2 */
110                           "0.984807753012208";   /* z2 */
111            i2c-gate {
112                #address-cells = <1>;
113                #size-cells = <0>;
114                magnetometer@c {
115                    compatible = "asahi-kasei,ak8975";
116                    reg = <0x0c>;
117                };
118            };
119        };
120    };
121...
122