# 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
    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"