From 7a976925d27137aac7e9d431ec73316bb8adc09e Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 1 Nov 2023 17:11:40 +0100
Subject: [PATCH] boards: thingy52: add missing mpu9250 support The Thingy:52
 has a mpu9250, a 9 axis motion sensor, on the I2C bus. Add the necessary
 description on devicetree and config the mpu_pwr regulator.

Signed-off-by: Guilherme S. Salustiano <guissalustiano@gmail.com>
---
 boards/arm/thingy52_nrf52832/board.c          | 30 +++++++++++++++++--
 .../thingy52_nrf52832/thingy52_nrf52832.dts   | 13 ++++++++
 2 files changed, 40 insertions(+), 3 deletions(-)

diff --git a/boards/arm/thingy52_nrf52832/board.c b/boards/arm/thingy52_nrf52832/board.c
index a6a3fec782e592c..ca7b1725d934403 100644
--- a/boards/arm/thingy52_nrf52832/board.c
+++ b/boards/arm/thingy52_nrf52832/board.c
@@ -11,7 +11,7 @@
 static const struct gpio_dt_spec ccs_gpio =
 	GPIO_DT_SPEC_GET(DT_NODELABEL(ccs_pwr), enable_gpios);
 
-static int pwr_ctrl_init(void)
+static int ccs_pwr_ctrl_init(void)
 {
 	int ret;
 
@@ -24,7 +24,28 @@ static int pwr_ctrl_init(void)
 		return ret;
 	}
 
-	k_sleep(K_MSEC(1)); /* Wait for the rail to come up and stabilize */
+	k_sleep(K_MSEC(100)); /* Wait for the rail to come up and stabilize */
+
+	return 0;
+}
+
+static const struct gpio_dt_spec mpu_gpio =
+	GPIO_DT_SPEC_GET(DT_NODELABEL(mpu_pwr), enable_gpios);
+
+static int mpu_pwr_ctrl_init(void)
+{
+	int ret;
+
+	if (!gpio_is_ready_dt(&imu_gpio)) {
+		return -ENODEV;
+	}
+
+	ret = gpio_pin_configure_dt(&imu_gpio, GPIO_OUTPUT_HIGH);
+	if (ret < 0) {
+		return ret;
+	}
+
+	k_sleep(K_MSEC(100)); /* Wait for the rail to come up and stabilize */
 
 	return 0;
 }
@@ -34,5 +55,8 @@ static int pwr_ctrl_init(void)
 #error BOARD_CCS_VDD_PWR_CTRL_INIT_PRIORITY must be lower than SENSOR_INIT_PRIORITY
 #endif
 
-SYS_INIT(pwr_ctrl_init, POST_KERNEL,
+SYS_INIT(ccs_pwr_ctrl_init, POST_KERNEL,
+	 CONFIG_BOARD_CCS_VDD_PWR_CTRL_INIT_PRIORITY);
+
+SYS_INIT(imu_pwr_ctrl_init, POST_KERNEL,
 	 CONFIG_BOARD_CCS_VDD_PWR_CTRL_INIT_PRIORITY);
diff --git a/boards/arm/thingy52_nrf52832/thingy52_nrf52832.dts b/boards/arm/thingy52_nrf52832/thingy52_nrf52832.dts
index dea1e43fad510be..22d7efdeb1136b9 100644
--- a/boards/arm/thingy52_nrf52832/thingy52_nrf52832.dts
+++ b/boards/arm/thingy52_nrf52832/thingy52_nrf52832.dts
@@ -171,6 +171,19 @@
 		reset-gpios = <&sx1509b 11 GPIO_ACTIVE_LOW>;
 		wake-gpios = <&sx1509b 12 GPIO_ACTIVE_LOW>;
 	};
+
+	mpu9250: mpu9250@68 {
+		compatible = "invensense,mpu9250";
+		reg = <0x68>;
+		vin-supply = <&mpu_pwr>;
+		status = "okay";
+		irq-gpios = <&gpio0 06 GPIO_ACTIVE_HIGH>;
+		gyro-sr-div = <10>;
+		gyro-dlpf = <5>;
+		gyro-fs = <250>;
+		accel-fs = <2>;
+		accel-dlpf="5.05";
+	};
 };
 
 &i2c1 {