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>
diff --git a/Documentation/ABI/testing/sysfs-bus-iio b/Documentation/ABI/testing/sysfs-bus-iio
index ba8df69..df44998 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: 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 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 */
};
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index d192953..482a249 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -600,6 +600,10 @@
/**
* inv_attr_show() - calling this function will show current
* parameters.
+ *
+ * Deprecated in favor of IIO mounting matrix API.
+ *
+ * See inv_get_mount_matrix()
*/
static ssize_t inv_attr_show(struct device *dev, struct device_attribute *attr,
char *buf)
@@ -644,6 +648,18 @@
return 0;
}
+static const struct iio_mount_matrix *
+inv_get_mount_matrix(const struct iio_dev *indio_dev,
+ const struct iio_chan_spec *chan)
+{
+ return &((struct inv_mpu6050_state *)iio_priv(indio_dev))->orientation;
+}
+
+static const struct iio_chan_spec_ext_info inv_ext_info[] = {
+ IIO_MOUNT_MATRIX(IIO_SHARED_BY_TYPE, inv_get_mount_matrix),
+ { },
+};
+
#define INV_MPU6050_CHAN(_type, _channel2, _index) \
{ \
.type = _type, \
@@ -660,6 +676,7 @@
.shift = 0, \
.endianness = IIO_BE, \
}, \
+ .ext_info = inv_ext_info, \
}
static const struct iio_chan_spec inv_mpu_channels[] = {
@@ -692,14 +709,16 @@
"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);
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_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 +798,20 @@
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 @@
* @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 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];