1InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device 2 3http://www.invensense.com/mems/gyro/mpu6050.html 4 5Required properties: 6 - compatible : should be one of 7 "invensense,mpu6050" 8 "invensense,mpu6500" 9 "invensense,mpu6515" 10 "invensense,mpu9150" 11 "invensense,mpu9250" 12 "invensense,mpu9255" 13 "invensense,icm20608" 14 "invensense,icm20602" 15 - reg : the I2C address of the sensor 16 - interrupts: interrupt mapping for IRQ. It should be configured with flags 17 IRQ_TYPE_LEVEL_HIGH, IRQ_TYPE_EDGE_RISING, IRQ_TYPE_LEVEL_LOW or 18 IRQ_TYPE_EDGE_FALLING. 19 20 Refer to interrupt-controller/interrupts.txt for generic interrupt client node 21 bindings. 22 23Optional properties: 24 - vddio-supply: regulator phandle for VDDIO supply 25 - mount-matrix: an optional 3x3 mounting rotation matrix 26 - i2c-gate node. These devices also support an auxiliary i2c bus. This is 27 simple enough to be described using the i2c-gate binding. See 28 i2c/i2c-gate.txt for more details. 29 30Example: 31 mpu6050@68 { 32 compatible = "invensense,mpu6050"; 33 reg = <0x68>; 34 interrupt-parent = <&gpio1>; 35 interrupts = <18 IRQ_TYPE_EDGE_RISING>; 36 mount-matrix = "-0.984807753012208", /* x0 */ 37 "0", /* y0 */ 38 "-0.173648177666930", /* z0 */ 39 "0", /* x1 */ 40 "-1", /* y1 */ 41 "0", /* z1 */ 42 "-0.173648177666930", /* x2 */ 43 "0", /* y2 */ 44 "0.984807753012208"; /* z2 */ 45 }; 46 47 48 mpu9250@68 { 49 compatible = "invensense,mpu9250"; 50 reg = <0x68>; 51 interrupt-parent = <&gpio3>; 52 interrupts = <21 IRQ_TYPE_LEVEL_HIGH>; 53 i2c-gate { 54 #address-cells = <1>; 55 #size-cells = <0>; 56 ax8975@c { 57 compatible = "ak,ak8975"; 58 reg = <0x0c>; 59 }; 60 }; 61 }; 62