diff --git a/boards/arm64/a64/pinephone/configs/sensor/defconfig b/boards/arm64/a64/pinephone/configs/sensor/defconfig
new file mode 100644
index 00000000000..a416f9f0296
--- /dev/null
+++ b/boards/arm64/a64/pinephone/configs/sensor/defconfig
@@ -0,0 +1,73 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_A64_RSB=y
+CONFIG_A64_TWI1=y
+CONFIG_A64_UART=y
+CONFIG_ARCH="arm64"
+CONFIG_ARCH_ARM64=y
+CONFIG_ARCH_BOARD="pinephone"
+CONFIG_ARCH_BOARD_PINEPHONE=y
+CONFIG_ARCH_CHIP="a64"
+CONFIG_ARCH_CHIP_A64=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=116524
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_INFO=y
+CONFIG_DEBUG_SCHED=y
+CONFIG_DEBUG_SCHED_ERROR=y
+CONFIG_DEBUG_SCHED_WARN=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_WARN=y
+CONFIG_DEFAULT_TASK_STACKSIZE=8192
+CONFIG_DEV_ZERO=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_LEDS=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=8192
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INTELHEX_BINARY=y
+CONFIG_MPU60X0_I2C=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_PTHREAD_STACK_MIN=8192
+CONFIG_RAMLOG=y
+CONFIG_RAM_SIZE=134217728
+CONFIG_RAM_START=0x40000000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=192
+CONFIG_SENSORS=y
+CONFIG_SENSORS_MPU60X0=y
+CONFIG_SPINLOCK=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_MONTH=11
+CONFIG_START_YEAR=2022
+CONFIG_SYMTAB_ORDEREDBYNAME=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_SYSTEM_SYSTEM=y
+CONFIG_TESTING_GETPRIME=y
+CONFIG_TESTING_OSTEST=y
+CONFIG_UART1_SERIAL_CONSOLE=y
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERLED=y
+CONFIG_USERLED_LOWER=y
diff --git a/boards/arm64/a64/pinephone/src/Makefile b/boards/arm64/a64/pinephone/src/Makefile
index 3c9fc78abee..4b3911798d3 100644
--- a/boards/arm64/a64/pinephone/src/Makefile
+++ b/boards/arm64/a64/pinephone/src/Makefile
@@ -20,7 +20,7 @@
 
 include $(TOPDIR)/Make.defs
 
-CSRCS = pinephone_boardinit.c pinephone_bringup.c
+CSRCS = pinephone_boardinit.c pinephone_bringup.c pinephone_pmic.c
 
 ifeq ($(CONFIG_BOARDCTL),y)
 CSRCS += pinephone_appinit.c
@@ -38,7 +38,7 @@ CSRCS += pinephone_userleds.c
 endif
 
 ifeq ($(CONFIG_VIDEO_FB),y)
-CSRCS += pinephone_display.c pinephone_lcd.c pinephone_pmic.c
+CSRCS += pinephone_display.c pinephone_lcd.c
 endif
 
 include $(TOPDIR)/boards/Board.mk
diff --git a/boards/arm64/a64/pinephone/src/pinephone_bringup.c b/boards/arm64/a64/pinephone/src/pinephone_bringup.c
index 56029a21760..4694343db77 100644
--- a/boards/arm64/a64/pinephone/src/pinephone_bringup.c
+++ b/boards/arm64/a64/pinephone/src/pinephone_bringup.c
@@ -25,6 +25,13 @@
 #include <nuttx/config.h>
 #include <sys/types.h>
 #include <syslog.h>
+#ifdef CONFIG_I2C
+#  include <nuttx/i2c/i2c_master.h>
+#endif
+#include <nuttx/kmalloc.h>
+#ifdef CONFIG_MPU60X0_I2C
+#  include <nuttx/sensors/mpu60x0.h>
+#endif
 
 #ifdef CONFIG_FS_PROCFS
 #  include <nuttx/fs/fs.h>
@@ -39,7 +46,9 @@
 #  include "pinephone_display.h"
 #endif
 
+#include "a64_twi.h"
 #include "pinephone.h"
+#include "pinephone_pmic.h"
 
 /****************************************************************************
  * Public Functions
@@ -56,6 +65,13 @@
 int pinephone_bringup(void)
 {
   int ret;
+#ifdef CONFIG_I2C
+  int i2c_bus;
+  struct i2c_master_s *i2c;
+#ifdef CONFIG_MPU60X0_I2C
+  struct mpu_config_s *mpu_config;
+#endif
+#endif
 
 #ifdef CONFIG_USERLED
   /* Register the LED driver */
@@ -91,6 +107,53 @@ int pinephone_bringup(void)
   pinephone_display_test_pattern();
 #endif
 
+#if defined(CONFIG_I2C) && defined(CONFIG_A64_TWI1)
+  i2c_bus = 1;
+  i2c = a64_i2cbus_initialize(i2c_bus);
+  if (i2c == NULL)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to get I2C%d interface\n", i2c_bus);
+    }
+  else
+    {
+#if defined(CONFIG_SYSTEM_I2CTOOL)
+      ret = i2c_register(i2c, i2c_bus);
+      if (ret < 0)
+        {
+          syslog(LOG_ERR, "ERROR: Failed to register I2C%d driver: %d\n",
+                 i2c_bus, ret);
+        }
+#endif
+
+#ifdef CONFIG_MPU60X0_I2C
+      /* Init PMIC */
+
+      ret = pinephone_pmic_init();
+      if (ret < 0)
+        {
+          syslog(LOG_ERR, "Init PMIC failed: %d\n", ret);
+          return ret;
+        }
+
+      /* Wait 15 milliseconds for power supply and power-on init */
+
+      up_mdelay(15);
+
+      mpu_config = kmm_zalloc(sizeof(struct mpu_config_s));
+      if (mpu_config == NULL)
+        {
+          syslog(LOG_ERR, "ERROR: Failed to allocate mpu60x0 driver\n");
+        }
+      else
+        {
+          mpu_config->i2c = i2c;
+          mpu_config->addr = 0x68;
+          mpu60x0_register("/dev/imu0", mpu_config);
+        }
+#endif
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }