# Copyright (c) 2021 Nordic Semiconductor
# SPDX-License-Identifier: Apache-2.0

description: |
    InvenSense MPU-9250 Nine-Axis (Gyro + Accelerometer + Compass). See more
    info at https://www.invensense.com/products/motion-tracking/9-axis/mpu-9250/

compatible: "invensense,mpu9250"

include: [sensor-device.yaml, i2c-device.yaml]

properties:
    irq-gpios:
      type: phandle-array
      required: false
      description: |
        The INT signal default configuration is active-high.  The
        property value should ensure the flags properly describe the
        signal that is presented to the driver.
        This property is required when the trigger mode is used.

    gyro-sr-div:
      type: int
      required: true
      description: |
        Default gyrscope sample rate divider. This divider is only effective
        when gyro-dlpf is in range 5-184.
        rate = sample_rate / (1 + gyro-sr-div)
        Valid range: 0 - 255

    gyro-dlpf:
      type: int
      required: true
      description: |
        Default digital low pass filter frequency of gyroscope.
        Maps to DLPF_CFG field in Configuration setting.
      enum:
        - 250
        - 184
        - 92
        - 41
        - 20
        - 10
        - 5
        - 3600

    gyro-fs:
      type: int
      required: true
      description: |
        Default full scale of gyroscope. (Unit - DPS).
        Maps to GYRO_FS_SEL field in Gyroscope Configuration setting.
      enum:
        - 250
        - 500
        - 1000
        - 2000

    accel-fs:
      type: int
      required: true
      description: |
        Default full scale of accelerometer. (Unit - g)
        Maps to ACCEL_FS_SEL field in Accelerometer Configuration setting
      enum:
        - 2
        - 4
        - 8
        - 16

    accel-dlpf:
      type: string
      required: true
      description: |
        Default digital low pass filter frequency of accelerometer.
        Maps to DLPF_CFG field in Accelerometer Configuration 2 setting.
      enum:
        - "218.1"
        - "218.1a"
        - "99"
        - "44.8"
        - "21.2"
        - "10.2"
        - "5.05"
        - "420"