xref: /linux/Documentation/devicetree/bindings/iio/imu/invensense,mpu6050.yaml (revision dec1c62e91ba268ab2a6e339d4d7a59287d5eba1) 
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,icm20608d
35          - const: invensense,icm20608
36
37  reg:
38    maxItems: 1
39
40  interrupts:
41    maxItems: 1
42
43  spi-max-frequency: true
44
45  vdd-supply: true
46  vddio-supply: true
47
48  mount-matrix: true
49
50  i2c-gate:
51    $ref: /schemas/i2c/i2c-controller.yaml
52    unevaluatedProperties: false
53    description: |
54      These devices also support an auxiliary i2c bus via an i2c-gate.
55
56allOf:
57  - if:
58      not:
59        properties:
60          compatible:
61            contains:
62              enum:
63                - invensense,mpu9150
64                - invensense,mpu9250
65                - invensense,mpu9255
66    then:
67      properties:
68        i2c-gate: false
69
70additionalProperties: false
71
72required:
73  - compatible
74  - reg
75  - interrupts
76
77examples:
78  - |
79    #include <dt-bindings/interrupt-controller/irq.h>
80    i2c {
81        #address-cells = <1>;
82        #size-cells = <0>;
83
84        imu@68 {
85            compatible = "invensense,mpu9250";
86            reg = <0x68>;
87            interrupt-parent = <&gpio3>;
88            interrupts = <21 IRQ_TYPE_LEVEL_HIGH>;
89            mount-matrix = "-0.984807753012208",  /* x0 */
90                           "0",                   /* y0 */
91                           "-0.173648177666930",  /* z0 */
92                           "0",                   /* x1 */
93                           "-1",                  /* y1 */
94                           "0",                   /* z1 */
95                           "-0.173648177666930",  /* x2 */
96                           "0",                   /* y2 */
97                           "0.984807753012208";   /* z2 */
98            i2c-gate {
99                #address-cells = <1>;
100                #size-cells = <0>;
101                magnetometer@c {
102                    compatible = "asahi-kasei,ak8975";
103                    reg = <0x0c>;
104                };
105            };
106        };
107    };
108...
109