forked from Minki/linux
eb3798463f
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>
31 lines
1014 B
Plaintext
31 lines
1014 B
Plaintext
InvenSense MPU-6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking Device
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http://www.invensense.com/mems/gyro/mpu6050.html
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Required properties:
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- compatible : should be "invensense,mpu6050"
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- reg : the I2C address of the sensor
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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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