1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
|
# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause)
%YAML 1.2
---
$id: http://devicetree.org/schemas/iio/imu/invensense,mpu6050.yaml#
$schema: http://devicetree.org/meta-schemas/core.yaml#
title: InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device
maintainers:
- Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>
description: |
These devices support both I2C and SPI bus interfaces.
properties:
compatible:
oneOf:
- enum:
- invensense,iam20680
- invensense,icm20608
- invensense,icm20609
- invensense,icm20689
- invensense,icm20602
- invensense,icm20690
- invensense,mpu6000
- invensense,mpu6050
- invensense,mpu6500
- invensense,mpu6515
- invensense,mpu6880
- invensense,mpu9150
- invensense,mpu9250
- invensense,mpu9255
- items:
- const: invensense,icm20600
- const: invensense,icm20602
- items:
- const: invensense,icm20608d
- const: invensense,icm20608
reg:
maxItems: 1
interrupts:
maxItems: 1
vdd-supply: true
vddio-supply: true
mount-matrix: true
i2c-gate:
$ref: /schemas/i2c/i2c-controller.yaml
unevaluatedProperties: false
description: |
These devices also support an auxiliary i2c bus via an i2c-gate.
allOf:
- $ref: /schemas/spi/spi-peripheral-props.yaml#
- if:
not:
properties:
compatible:
contains:
enum:
- invensense,mpu9150
- invensense,mpu9250
- invensense,mpu9255
then:
properties:
i2c-gate: false
unevaluatedProperties: false
required:
- compatible
- reg
- interrupts
examples:
- |
#include <dt-bindings/interrupt-controller/irq.h>
i2c {
#address-cells = <1>;
#size-cells = <0>;
imu@68 {
compatible = "invensense,mpu9250";
reg = <0x68>;
interrupt-parent = <&gpio3>;
interrupts = <21 IRQ_TYPE_LEVEL_HIGH>;
mount-matrix = "-0.984807753012208", /* x0 */
"0", /* y0 */
"-0.173648177666930", /* z0 */
"0", /* x1 */
"-1", /* y1 */
"0", /* z1 */
"-0.173648177666930", /* x2 */
"0", /* y2 */
"0.984807753012208"; /* z2 */
i2c-gate {
#address-cells = <1>;
#size-cells = <0>;
magnetometer@c {
compatible = "asahi-kasei,ak8975";
reg = <0x0c>;
};
};
};
};
...
|
