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Diffstat (limited to 'zephyr/dts/bindings/motionsense/cros-ec,motionsense-rotation-ref.yaml')
| -rw-r--r-- | zephyr/dts/bindings/motionsense/cros-ec,motionsense-rotation-ref.yaml | 55 |
1 files changed, 55 insertions, 0 deletions
diff --git a/zephyr/dts/bindings/motionsense/cros-ec,motionsense-rotation-ref.yaml b/zephyr/dts/bindings/motionsense/cros-ec,motionsense-rotation-ref.yaml new file mode 100644 index 0000000000..7de86ec8db --- /dev/null +++ b/zephyr/dts/bindings/motionsense/cros-ec,motionsense-rotation-ref.yaml @@ -0,0 +1,55 @@ +# Copyright 2021 The Chromium OS Authors. All rights reserved. +# Use of this source code is governed by a BSD-style license that can be +# found in the LICENSE file. + +description: rotation reference parent node + +compatible: "cros-ec,motionsense-rotation-ref" + +child-binding: + description: | + A rotation matrix node is used to create + an instance of mat33_fp_t which is used by + sensor drivers. + properties: + mat33: + required: true + type: array + description: | + 3x3 matrix to rotate x, y, and z axes. + Applications with the sensor API expects sansor data + based on the same defined coordinate system. + * X-axis is horizontal and positive toward the right + * Y-axis is vertical and positive toward the top + * Z-axis points toward the user + + Depending on how the sensor is mounted on board(PCB), we + may need to change the direction of a axis and swap X and + Y-axis. Using the 3x3 matrix, it generates the correct + X,Y, and Z on the defined coordinate system. + + +- -+ +- -+ +- -+ + | v1 v2 v3 | | sensor_X | | X | + | v4 v5 v6 | * | sensor_Y | = | Y | + | v7 v8 v9 | | sensor_Z | | Z | + +- -+ +- -+ +- -+ + +# +# examples: +# +# motionsense-rotation-ref { +# compatible = "cros-ec,motionsense-rotation-ref"; +# /* change the direction of Y and Z-axis */ +# lid_rot_ref: lid-rotation-ref { +# mat33 = <1 0 0 +# 0 (-1) 0 +# 0 0 (-1)>; +# }; +# /* swap X and Y-axis, and then change the direction of Y-axis */ +# base_rot_ref: base-rotation-ref { +# mat33 = <0 1 0 +# (-1) 0 0 +# 0 0 1>; +# }; +# }; +# |