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iio:imu:mpu6050: enhance mounting matrix support

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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 2016-04-20 19:23:45 +02:00 committed by Jonathan Cameron
parent 97eacb9166
commit eb3798463f
5 changed files with 55 additions and 5 deletions
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2
Documentation/ABI/testing/sysfs-bus-iio
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@ -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:

13
Documentation/devicetree/bindings/iio/imu/inv_mpu6050.txt
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@ -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 */
};

36
drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
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@ -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)

4
drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h
View File

@ -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;

5
include/linux/platform_data/invensense_mpu6050.h
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@ -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];