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| author | Gregor Boirie <gregor.boirie@parrot.com> | 2016-04-20 19:23:45 +0200 |
|---|---|---|
| committer | Jonathan Cameron <jic23@kernel.org> | 2016-04-23 22:16:01 +0100 |
| commit | eb3798463f71afc77abd25b2f62708be06f7173b (patch) | |
| tree | d35a30863782850b30e888b9cbc5822386beee1f /Documentation | |
| parent | 97eacb9166f4810368e180073dcbceeff0de34df (diff) | |
| download | linux-eb3798463f71afc77abd25b2f62708be06f7173b.tar.bz2 | |
iio:imu:mpu6050: enhance mounting matrix support
Add a new rotation matrix sysfs attribute compliant with IIO core
mounting matrix API.
Matrix is retrieved from "in_anglvel_mount_matrix" and
"in_accel_mount_matrix" sysfs attributes. It is declared into mpu6050 DTS
entry as a "mount-matrix" property.
Old interface is kept for backward userspace compatibility and may be
retrieved from legacy platform_data mechanism only.
Signed-off-by: Gregor Boirie <gregor.boirie@parrot.com>
Acked-by: Rob Herring <robh@kernel.org>
Signed-off-by: Jonathan Cameron <jic23@kernel.org>
Diffstat (limited to 'Documentation')
| -rw-r--r-- | Documentation/ABI/testing/sysfs-bus-iio | 2 | ||||
| -rw-r--r-- | Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt | 13 |
2 files changed, 15 insertions, 0 deletions
diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio index ba8df69d40b0..df44998e7506 100644 --- a/Documentation/ABI/testing/sysfs-bus-iio +++ b/Documentation/ABI/testing/sysfs-bus-iio @@ -1516,6 +1516,8 @@ Description: What: /sys/bus/iio/devices/iio:deviceX/mount_matrix What: /sys/bus/iio/devices/iio:deviceX/in_mount_matrix What: /sys/bus/iio/devices/iio:deviceX/out_mount_matrix +What: /sys/bus/iio/devices/iio:deviceX/in_anglvel_mount_matrix +What: /sys/bus/iio/devices/iio:deviceX/in_accel_mount_matrix KernelVersion: 4.6 Contact: linux-iio@vger.kernel.org Description: diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt index e4d8f1c52f4a..a9fc11e43b45 100644 --- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt +++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt @@ -8,10 +8,23 @@ Required properties: - interrupt-parent : should be the phandle for the interrupt controller - interrupts : interrupt mapping for GPIO IRQ +Optional properties: + - mount-matrix: an optional 3x3 mounting rotation matrix + + Example: mpu6050@68 { compatible = "invensense,mpu6050"; reg = <0x68>; interrupt-parent = <&gpio1>; interrupts = <18 1>; + mount-matrix = "-0.984807753012208", /* x0 */ + "0", /* y0 */ + "-0.173648177666930", /* z0 */ + "0", /* x1 */ + "-1", /* y1 */ + "0", /* z1 */ + "-0.173648177666930", /* x2 */ + "0", /* y2 */ + "0.984807753012208"; /* z2 */ }; |