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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>
This commit is contained in:
Gregor Boirie
Jonathan Cameron
parent
97eacb9166
commit
eb3798463f
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@ -1516,6 +1516,8 @@ Description:
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What: /sys/bus/iio/devices/iio:deviceX/mount_matrix
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What: /sys/bus/iio/devices/iio:deviceX/in_mount_matrix
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What: /sys/bus/iio/devices/iio:deviceX/out_mount_matrix
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What: /sys/bus/iio/devices/iio:deviceX/in_anglvel_mount_matrix
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What: /sys/bus/iio/devices/iio:deviceX/in_accel_mount_matrix
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KernelVersion: 4.6
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Contact: linux-iio@vger.kernel.org
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Description:
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@ -8,10 +8,23 @@ Required properties:
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- interrupt-parent : should be the phandle for the interrupt controller
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- interrupts : interrupt mapping for GPIO IRQ
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Optional properties:
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- mount-matrix: an optional 3x3 mounting rotation matrix
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Example:
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mpu6050@68 {
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compatible = "invensense,mpu6050";
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reg = <0x68>;
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interrupt-parent = <&gpio1>;
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interrupts = <18 1>;
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mount-matrix = "-0.984807753012208", /* x0 */
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"0", /* y0 */
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"-0.173648177666930", /* z0 */
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"0", /* x1 */
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"-1", /* y1 */
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"0", /* z1 */
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"-0.173648177666930", /* x2 */
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"0", /* y2 */
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"0.984807753012208"; /* z2 */
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};
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@ -600,6 +600,10 @@ inv_fifo_rate_show(struct device *dev, struct device_attribute *attr,
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/**
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* inv_attr_show() - calling this function will show current
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* parameters.
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*
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* Deprecated in favor of IIO mounting matrix API.
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*
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* See inv_get_mount_matrix()
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*/
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static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
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char *buf)
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@ -644,6 +648,18 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
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return 0;
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}
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static const struct iio_mount_matrix *
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inv_get_mount_matrix(const struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan)
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{
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return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
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}
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static const struct iio_chan_spec_ext_info inv_ext_info[] = {
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IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
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{ },
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};
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#define INV_MPU6050_CHAN(_type, _channel2, _index) \
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{ \
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.type = _type, \
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@ -660,6 +676,7 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev,
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.shift = 0, \
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.endianness = IIO_BE, \
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}, \
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.ext_info = inv_ext_info, \
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}
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static const struct iio_chan_spec inv_mpu_channels[] = {
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@ -692,14 +709,16 @@ static IIO_CONST_ATTR(in_accel_scale_available,
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"0.000598 0.001196 0.002392 0.004785");
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static IIO_DEV_ATTR_SAMP_FREQ(S_IRUGO | S_IWUSR, inv_fifo_rate_show,
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inv_mpu6050_fifo_rate_store);
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/* Deprecated: kept for userspace backward compatibility. */
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static IIO_DEVICE_ATTR(in_gyro_matrix, S_IRUGO, inv_attr_show, NULL,
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ATTR_GYRO_MATRIX);
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static IIO_DEVICE_ATTR(in_accel_matrix, S_IRUGO, inv_attr_show, NULL,
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ATTR_ACCL_MATRIX);
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static struct attribute *inv_attributes[] = {
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&iio_dev_attr_in_gyro_matrix.dev_attr.attr,
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&iio_dev_attr_in_accel_matrix.dev_attr.attr,
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&iio_dev_attr_in_gyro_matrix.dev_attr.attr, /* deprecated */
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&iio_dev_attr_in_accel_matrix.dev_attr.attr, /* deprecated */
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&iio_dev_attr_sampling_frequency.dev_attr.attr,
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&iio_const_attr_sampling_frequency_available.dev_attr.attr,
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&iio_const_attr_in_accel_scale_available.dev_attr.attr,
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@ -779,9 +798,20 @@ int inv_mpu_core_probe(struct regmap *regmap, int irq, const char *name,
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st->powerup_count = 0;
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st->irq = irq;
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st->map = regmap;
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pdata = dev_get_platdata(dev);
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if (pdata)
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if (!pdata) {
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result = of_iio_read_mount_matrix(dev, "mount-matrix",
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&st->orientation);
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if (result) {
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dev_err(dev, "Failed to retrieve mounting matrix %d\n",
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result);
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return result;
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}
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} else {
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st->plat_data = *pdata;
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}
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/* power is turned on inside check chip type*/
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result = inv_check_and_setup_chip(st);
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if (result)
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@ -114,7 +114,8 @@ struct inv_mpu6050_hw {
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* @hw: Other hardware-specific information.
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* @chip_type: chip type.
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* @time_stamp_lock: spin lock to time stamp.
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* @plat_data: platform data.
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* @plat_data: platform data (deprecated in favor of @orientation).
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* @orientation: sensor chip orientation relative to main hardware.
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* @timestamps: kfifo queue to store time stamp.
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* @map regmap pointer.
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* @irq interrupt number.
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@ -131,6 +132,7 @@ struct inv_mpu6050_state {
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struct i2c_client *mux_client;
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unsigned int powerup_count;
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struct inv_mpu6050_platform_data plat_data;
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struct iio_mount_matrix orientation;
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DECLARE_KFIFO(timestamps, long long, TIMESTAMP_FIFO_SIZE);
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struct regmap *map;
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int irq;
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@ -16,13 +16,16 @@
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/**
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* struct inv_mpu6050_platform_data - Platform data for the mpu driver
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* @orientation: Orientation matrix of the chip
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* @orientation: Orientation matrix of the chip (deprecated in favor of
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* mounting matrix retrieved from device-tree)
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*
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* Contains platform specific information on how to configure the MPU6050 to
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* work on this platform. The orientation matricies are 3x3 rotation matricies
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* that are applied to the data to rotate from the mounting orientation to the
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* platform orientation. The values must be one of 0, 1, or -1 and each row and
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* column should have exactly 1 non-zero value.
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*
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* Deprecated in favor of mounting matrix retrieved from device-tree.
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*/
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struct inv_mpu6050_platform_data {
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__s8 orientation[9];
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