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freebsd
GitHub Repository: freebsd/freebsd-src
 Path: blob/main/sys/contrib/device-tree/Bindings/iio/imu/invensense,mpu6050.yaml
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# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause)

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%YAML 1.2

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---

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$id: http://devicetree.org/schemas/iio/imu/invensense,mpu6050.yaml#

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$schema: http://devicetree.org/meta-schemas/core.yaml#

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title: InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device

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maintainers:

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  - Jean-Baptiste Maneyrol <jmaneyrol@invensense.com>

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description: |

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  These devices support both I2C and SPI bus interfaces.

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properties:

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  compatible:

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    oneOf:

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      - enum:

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          - invensense,iam20680

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          - invensense,icm20608

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          - invensense,icm20609

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          - invensense,icm20689

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          - invensense,icm20602

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          - invensense,icm20690

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          - invensense,mpu6000

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          - invensense,mpu6050

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          - invensense,mpu6500

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          - invensense,mpu6515

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          - invensense,mpu6880

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          - invensense,mpu9150

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          - invensense,mpu9250

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          - invensense,mpu9255

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      - items:

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          - const: invensense,icm20600

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          - const: invensense,icm20602

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      - items:

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          - const: invensense,icm20608d

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          - const: invensense,icm20608

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  reg:

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    maxItems: 1

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  interrupts:

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    maxItems: 1

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  vdd-supply: true

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  vddio-supply: true

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  mount-matrix: true

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  invensense,level-shifter:

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    type: boolean

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    description: |

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      From ancient platform data struct: false: VLogic, true: VDD

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  i2c-gate:

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    $ref: /schemas/i2c/i2c-controller.yaml

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    unevaluatedProperties: false

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    description: |

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      These devices also support an auxiliary i2c bus via an i2c-gate.

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allOf:

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  - $ref: /schemas/spi/spi-peripheral-props.yaml#

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  - if:

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      properties:

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        compatible:

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          contains:

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            enum:

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              - invensense,iam20680

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              - invensense,icm20602

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              - invensense,icm20608

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              - invensense,icm20609

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              - invensense,icm20689

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    then:

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      properties:

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        i2c-gate: false

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unevaluatedProperties: false

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required:

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  - compatible

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  - reg

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  - interrupts

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examples:

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  - |

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    #include <dt-bindings/interrupt-controller/irq.h>

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    i2c {

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        #address-cells = <1>;

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        #size-cells = <0>;

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        imu@68 {

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            compatible = "invensense,mpu9250";

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            reg = <0x68>;

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            interrupt-parent = <&gpio3>;

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            interrupts = <21 IRQ_TYPE_LEVEL_HIGH>;

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            mount-matrix = "-0.984807753012208",  /* x0 */

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                           "0",                   /* y0 */

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                           "-0.173648177666930",  /* z0 */

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                           "0",                   /* x1 */

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                           "-1",                  /* y1 */

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                           "0",                   /* z1 */

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                           "-0.173648177666930",  /* x2 */

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                           "0",                   /* y2 */

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                           "0.984807753012208";   /* z2 */

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            i2c-gate {

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                #address-cells = <1>;

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                #size-cells = <0>;

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                magnetometer@c {

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                    compatible = "asahi-kasei,ak8975";

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                    reg = <0x0c>;

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                };

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            };

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        };

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    };

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...

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