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+# 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:
+ 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
+
+ reg:
+ maxItems: 1
+
+ interrupts:
+ maxItems: 1
+
+ spi-max-frequency: true
+
+ 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:
+ - if:
+ not:
+ properties:
+ compatible:
+ contains:
+ enum:
+ - invensense,mpu9150
+ - invensense,mpu9250
+ - invensense,mpu9255
+ then:
+ properties:
+ i2c-gate: false
+
+additionalProperties: 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 = "ak,ak8975";
+ reg = <0x0c>;
+ };
+ };
+ };
+ };
+...