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 <[email protected]>
Acked-by: Rob Herring <[email protected]>
Signed-off-by: Jonathan Cameron <[email protected]>
diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio
index ba8df69..df44998e 100644
--- a/Documentation/ABI/testing/sysfs-bus-iio
+++ b/Documentation/ABI/testing/sysfs-bus-iio
@@ -1516,6 +1516,8 @@
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: [email protected]
Description:
diff --git a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
index e4d8f1c..a9fc11e 100644
--- a/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
+++ b/Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
@@ -8,10 +8,23 @@
- 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 */
};
