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@xxxxxxxxxx>
---
.../devicetree/bindings/iio/imu/inv_mpu6050.txt | 13 +++++
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c | 56 ++++++++++++++++++++--
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h | 4 +-
include/linux/platform_data/invensense_mpu6050.h | 5 +-
4 files changed, 72 insertions(+), 6 deletions(-)
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 @@ 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 */
};
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index d192953..deb93bc 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -599,7 +599,11 @@ inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
/**
* inv_attr_show() - calling this function will show current
- * parameters.
+ * parameters.
+ *
+ * Deprecated in favor of IIO mounting matrix API.
+ *
+ * See inv_show_mount_matrix()
*/
static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
char *buf)
@@ -625,6 +629,30 @@ static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
}
/**
+ * inv_show_mount_matrix() - calling this function will show current sensor's
+ * orientation.
+ */
+static ssize_t inv_show_mount_matrix(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct inv_mpu6050_state *st = iio_priv(dev_to_iio_dev(dev));
+ struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
+
+ switch (this_attr->address) {
+ /*
+ * In MPU6050, the two matrix are the same because gyro and accel
+ * are integrated in one chip
+ */
+ case ATTR_GYRO_MATRIX:
+ case ATTR_ACCL_MATRIX:
+ return iio_show_mount_matrix(&st->orientation, buf);
+ default:
+ return -EINVAL;
+ }
+}
+
+/**
* inv_mpu6050_validate_trigger() - validate_trigger callback for invensense
* MPU6050 device.
* @indio_dev: The IIO device
@@ -692,14 +720,23 @@ static IIO_CONST_ATTR(in_accel_scale_available,
"0.000598 0.001196 0.002392 0.004785");
static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
inv_mpu6050_fifo_rate_store);
+
+/* Deprecated: kept for userspace backward compatibility. */
static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
ATTR_GYRO_MATRIX);
static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
ATTR_ACCL_MATRIX);
+/* Replacement for old matrix attribute interface. */
+static IIO_DEV_ATTR_MOUNT_MATRIX(in_anglvel_mount_matrix, inv_show_mount_matrix,
+ ATTR_GYRO_MATRIX);
+static IIO_DEV_ATTR_MOUNT_MATRIX(in_accel_mount_matrix, inv_show_mount_matrix,
+ ATTR_ACCL_MATRIX);
static struct attribute *inv_attributes[] = {
- &iio_dev_attr_in_gyro_matrix.dev_attr.attr,
- &iio_dev_attr_in_accel_matrix.dev_attr.attr,
+ &iio_dev_attr_in_gyro_matrix.dev_attr.attr, /* deprecated */
+ &iio_dev_attr_in_accel_matrix.dev_attr.attr,/* deprecated */
+ &iio_dev_attr_in_anglvel_mount_matrix.dev_attr.attr,
+ &iio_dev_attr_in_accel_mount_matrix.dev_attr.attr,
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.dev_attr.attr,
&iio_const_attr_in_accel_scale_available.dev_attr.attr,
@@ -779,9 +816,20 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
st->powerup_count = 0;
st->irq = irq;
st->map = regmap;
+
pdata = dev_get_platdata(dev);
- if (pdata)
+ if (!pdata) {
+ result = of_iio_read_mount_matrix(dev, "mount-matrix",
+ &st->orientation);
+ if (result) {
+ dev_err(dev, "Failed to retrieve mounting matrix %d\n",
+ result);
+ return result;
+ }
+ } else {
st->plat_data = *pdata;
+ }
+
/* power is turned on inside check chip type*/
result = inv_check_and_setup_chip(st);
if (result)
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
index e302a49..52d60cd 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
@@ -114,7 +114,8 @@ struct inv_mpu6050_hw {
* @hw: Other hardware-specific information.
* @chip_type: chip type.
* @time_stamp_lock: spin lock to time stamp.
- * @plat_data: platform data.
+ * @plat_data: platform data (deprecated in favor of @orientation).
+ * @orientation: sensor chip orientation relative to main hardware.
* @timestamps: kfifo queue to store time stamp.
* @map regmap pointer.
* @irq interrupt number.
@@ -131,6 +132,7 @@ struct inv_mpu6050_state {
struct i2c_client *mux_client;
unsigned int powerup_count;
struct inv_mpu6050_platform_data plat_data;
+ struct iio_mount_matrix orientation;
DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
struct regmap *map;
int irq;
diff --git a/include/linux/platform_data/invensense_mpu6050.h b/include/linux/platform_data/invensense_mpu6050.h
index ad3aa7b..554b598 100644
--- a/include/linux/platform_data/invensense_mpu6050.h
+++ b/include/linux/platform_data/invensense_mpu6050.h
@@ -16,13 +16,16 @@
/**
* struct inv_mpu6050_platform_data - Platform data for the mpu driver
- * @orientation: Orientation matrix of the chip
+ * @orientation: Orientation matrix of the chip (deprecated in favor of
+ * mounting matrix retrieved from device-tree)
*
* Contains platform specific information on how to configure the MPU6050 to
* work on this platform. The orientation matricies are 3x3 rotation matricies
* that are applied to the data to rotate from the mounting orientation to the
* platform orientation. The values must be one of 0, 1, or -1 and each row and
* column should have exactly 1 non-zero value.
+ *
+ * Deprecated in favor of mounting matrix retrieved from device-tree.
*/
struct inv_mpu6050_platform_data {
__s8 orientation[9];
--
2.1.4
--
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