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# 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>;
# };
# };
#
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