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Commit eb379846 authored by Gregor Boirie's avatar Gregor Boirie Committed by Jonathan Cameron
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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: default avatarGregor Boirie <gregor.boirie@parrot.com>
Acked-by: default avatarRob Herring <robh@kernel.org>
Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
parent 97eacb91

Documentation/ABI/testing/sysfs-bus-iio

+2 −0
Original line number Diff line number Diff line
@@ -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:

Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt

+13 −0
Original line number Diff line number Diff line
@@ -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 */

	};

drivers/iio/imu/inv_mpu6050/inv_mpu_core.c

+33 −3
Original line number Diff line number Diff line
@@ -600,6 +600,10 @@ inv_fifo_rate_show(struct device *dev, struct device_attribute *attr, 
/**

 * 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 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev, 
	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 @@ static int inv_mpu6050_validate_trigger(struct iio_dev *indio_dev, 
				.shift = 0,                           \

				.endianness = IIO_BE,                 \

			     },                                       \

		.ext_info = inv_ext_info,                             \

	}



static const struct iio_chan_spec inv_mpu_channels[] = {
@@ -692,14 +709,16 @@ 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);



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 @@ 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)

drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h

+3 −1
Original line number Diff line number Diff line
@@ -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;

include/linux/platform_data/invensense_mpu6050.h

+4 −1
Original line number Diff line number Diff line
@@ -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];