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|
# This file is part of systemd.
#
# The lookup keys are composed in:
# 60-sensor.rules
#
# Note: The format of the "sensor:" prefix match key is a
# contract between the rules file and the hardware data, it might
# change in later revisions to support more or better matches, it
# is not necessarily expected to be a stable ABI.
#
# Match string formats:
# sensor:modalias:<parent device modalias>:dmi:<dmi string>
#
# The device modalias can be seen in the `modalias` file
# of the sensor parent, for example:
# cat /sys/`udevadm info -q path -n /dev/iio:device0`/../modalias
#
# The full DMI string of the running machine can be read from
# /sys/class/dmi/id/modalias
# That requires a kernel built with CONFIG_DMIID set, which is common.
# The full DMI string is not needed here and the meaning of individual parts
# can be seen in the source of the DMIID kernel module
# https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/drivers/firmware/dmi-id.c
#
# To add local entries, create a new file
# /etc/udev/hwdb.d/61-sensor-local.hwdb
# and add your rules there. To load the new rules execute (as root):
# systemd-hwdb update
# udevadm trigger -v -p DEVNAME=/dev/iio:deviceXXX
# where /dev/iio:deviceXXX is the device in question.
#
# If your changes are generally applicable, preferably send them as a pull
# request to
# https://github.com/systemd/systemd
# or create a bug report on https://github.com/systemd/systemd/issues and
# include your new rules, a description of the device, and the output of
# udevadm info --export-db
#
# For hwdb format and systemd behavior:
# https://www.freedesktop.org/software/systemd/man/hwdb.html
#
# Allowed properties are:
# ACCEL_MOUNT_MATRIX=<matrix>
#
# where <matrix> is a mount-matrix in the format specified in the IIO
# subsystem[1]. The default, when unset, is equivalent to:
# ACCEL_MOUNT_MATRIX=1, 0, 0; 0, 1, 0; 0, 0, 1
# eg. the identity matrix.
#
# [1]: https://git.kernel.org/cgit/linux/kernel/git/torvalds/linux.git/commit/?id=dfc57732ad38f93ae6232a3b4e64fd077383a0f1
#
# Note for devices where the display (LCD panel) is mounted non upright
# in the device's casing, e.g. mounted upside-down or 90 degree rotated,
# the ACCEL_MOUNT_MATRIX should be such that the x and y axis matches the
# x and y axis of the display, not those of the casing, so that desktop
# environments using the accelerometer data for rotation will e.g.
# automatically flip their output for an upside-down display when the device
# is held upright.
#
# Sort by brand, model
#########################################
# Acer
#########################################
sensor:modalias:acpi:INVN6500*:dmi:*svn*Acer*:*pn*AspireSW5-011*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svn*Acer*:*pn*AspireSW5-012*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
sensor:modalias:acpi:BMA250E*:dmi:*:svnAcer:pnIconiaW1-810:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
sensor:modalias:acpi:KIOX0009*:dmi:*:svnAcer:pnOneS1003:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
#########################################
# Archos
#########################################
sensor:modalias:acpi:SMO8500*:dmi:*:svnARCHOS:pnARCHOS80Cesium:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
#########################################
# AsusTek
#########################################
sensor:modalias:acpi:INVN6500*:dmi:*svnASUSTeK*:*pnT100CHI*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svnASUSTeK*:pnT300CHI*
ACCEL_MOUNT_MATRIX=0, -1, 0; 1, 0, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svnASUSTeK*:*pnT100TA*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svnASUSTeK*:pnT200TA*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svnASUSTeK*:*pnTP201SA*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svnASUSTeK*:pn*E205SA*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svn*ASUSTeK*:*pn*TP300LA*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
sensor:modalias:acpi:INVN6500*:dmi:*svn*ASUSTeK*:*pn*TP300LD*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
sensor:modalias:acpi:SMO8500*:dmi:*svn*ASUSTeK*:*pn*TP300LJ*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
sensor:modalias:acpi:SMO8500*:dmi:*svn*ASUSTeK*:*pn*TP500LB*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
sensor:modalias:acpi:SMO8500*:dmi:*svn*ASUSTeK*:*pn*TP300LD*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
sensor:modalias:acpi:BOSC0200*:dmi:*svn*ASUSTeK*:*pn*TP412UA*
ACCEL_MOUNT_MATRIX=0, -1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Axxo
#########################################
sensor:modalias:acpi:SMO8500*:dmi:*:svnStandard:pnWCBT1011:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
#########################################
# Chuwi
#########################################
# Chuwi Vi8 (CWI506)
sensor:modalias:acpi:BMA250E*:dmi:bvnINSYDECorp.:bvrCHUWI.D86JLBNR*:svnInsyde:pni86:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# Chuwi Vi8 Plus (CWI519)
sensor:modalias:acpi:BOSC0200*:dmi:*:svnHampoo:pnD2D3_Vi8A1:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# Chuwi Vi10 (CWI505)
sensor:modalias:acpi:BMA250E*:dmi:bvnINSYDECorp.:bvrG1D_S165*:svnilife:pnS165:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
# Chuwi Hi8 Pro (CWI513)
sensor:modalias:acpi:BOSC0200*:dmi:*:svnHampoo:pnX1D3_C806N:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# Chuwi Hi10 Pro
sensor:modalias:acpi:BOSC0200*:dmi:*:svn*CHUWIINNOVATIONANDTECHNOLOGY*:pnHi10protablet:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# Chuwi Hi12
sensor:modalias:acpi:BOSC0200*:dmi:*:svnHampoo:pnP02BD6_HI-122LP:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
# Chuwi Hi13
sensor:modalias:acpi:KIOX000A*:dmi:svnChuwi*:pnHi13
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
# Chuwi HiBook
# Chuwi HiBook does not have its product name filled, so we
# match the entire dmi-alias, assuming that the use of a BOSC0200 +
# bios-version + bios-date combo is unique
sensor:modalias:acpi:BOSC0200*:dmi:bvnAmericanMegatrendsInc.:bvr5.11:bd05/07/2016:svnDefaultstring:pnDefaultstring:pvrDefaultstring:rvnHampoo:rnCherryTrailCR:rvrDefaultstring:cvnDefaultstring:ct3:cvrDefaultstring:
sensor:modalias:acpi:BOSC0200*:dmi:bvnAmericanMegatrendsInc.:bvr5.11:bd05/28/2016:svnDefaultstring:pnDefaultstring:pvrDefaultstring:rvnHampoo:rnCherryTrailCR:rvrDefaultstring:cvnDefaultstring:ct3:cvrDefaultstring:
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
#########################################
# Connect
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:*:svnConnect:pnTablet9:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Cube
#########################################
# Cube iWork8 Air
sensor:modalias:acpi:KIOX000A*:dmi:*:svncube:pni1-TF:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
# Cube i7 Stylus
sensor:modalias:acpi:KIOX000A*:dmi:*:svnCube:pni7Stylus:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
# Cube i7 Book (i16)
sensor:modalias:acpi:KIOX000A*:dmi:*:svnCube:pni16:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
# Cube i7 Stylus I8L Model
sensor:modalias:acpi:KIOX000A*:dmi:*:svnCube:pni8-L:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
# Cube iWork 10 Flagship
sensor:modalias:acpi:BOSC0200*:dmi:*:svnCube:pnI15-TC:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
#########################################
# Cytrix (Mytrix)
#########################################
sensor:modalias:acpi:*KIOX000A*:dmi:*svn*CytrixTechnology:*pn*Complex11t*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
#########################################
# DEXP
#########################################
sensor:modalias:acpi:SMO8500*:dmi:*svn*DEXP*:*pn*DEXPOEM*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# Endless
#########################################
sensor:modalias:acpi:ACCE0001*:dmi:*svnEndless*:*pnELT-NL3*
ACCEL_MOUNT_MATRIX=0, 1, 0; 0, 0, -1; -1, 0, 0
#########################################
# Eve Technology
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:*:svnEVE*:pnEveV:*
ACCEL_MOUNT_MATRIX=0, 1, 0; -1, 0, 0; 0, 0, 1
#########################################
# GP-electronic
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:bvnINSYDECorp.:bvrBYT70A.YNCHENG.WIN.007:*:svnInsyde:pnT701:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# HP
#########################################
sensor:modalias:platform:lis3lv02d:dmi:*svn*Hewlett-Packard*:*pn*HPEliteBook8540w*
sensor:modalias:platform:lis3lv02d:dmi:*svn*Hewlett-Packard*:*pn*HPEliteBook8560w*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, 0, -1; 0, 1, 0
sensor:modalias:acpi:SMO8500*:dmi:*:svnHewlett-Packard:pnHPStream7Tablet:*
sensor:modalias:acpi:SMO8500*:dmi:*:svnHewlett-Packard:pnHPStream8Tablet:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
# HP Pavillion X2 10-n000nd
sensor:modalias:i2c:bmc150_accel:dmi:*:svnHewlett-Packard:pnHPPavilionx2Detachable:*:rn815D:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# I.T.Works
#########################################
# The I.T.Works TW891 2-in-1's DMI has the product-name field set, but not
# the sys-vendor field. This makes the DMI data a bit generic, so we match
# the whole dmi modalias, except for the BIOS version/date
sensor:modalias:acpi:KIOX000A*:dmi:bvnAmericanMegatrendsInc.:*:svnTobefilledbyO.E.M.:pnTW891:pvrTobefilledbyO.E.M.:rvnTobefilledbyO.E.M.:rnTW891:rvr1.0:cvnToBeFilledByO.E.M.:ct3:cvrToBeFilledByO.E.M.:
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
# I.T.Works TW701 7" windows tablet, same hw as Trekstor ST70416-6
sensor:modalias:acpi:BMA250*:dmi:*:bvritWORKS.G.WI71C.JGBMRB*:*:svnInsyde:pni71c:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# iOTA 360
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:*svn*iOTA*:*pn*IOTA2210*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# Jumper
#########################################
# EZpad mini 3
sensor:modalias:acpi:BOSC0200*:dmi:bvnINSYDECorp.:bvrjumperx.T87.KFBNEE*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# EZpad 6 Pro
sensor:modalias:acpi:BOSC0200*:dmi:*:svnJumper:pnEZpad:*:rvr.A006:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, -1, 0; 0, 0, 1
#########################################
# Kazam
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:bvnINSYDECorp.:bvrVISION.I22K*:svnKAZAM:pnVISION:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Lamina
#########################################
sensor:modalias:acpi:SMO8500*:dmi:*svnLamina*:*pnT701BR.SE*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
sensor:modalias:acpi:KIOX000A*:dmi:*svnLAMINA:pnT-1016BNORD*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Lenovo
#########################################
sensor:modalias:acpi:NCPE0388*:dmi:*:rnLenovoYOGA510-14IKB:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, -1, 0; 0, 0, 1
sensor:modalias:acpi:BOSC0200:BOSC0200:dmi:*ThinkPadYoga11e3rdGen*
ACCEL_MOUNT_MATRIX=0, 1, 0; -1, 0, 0; 0, 0, 1
# Miix3-1030
sensor:modalias:acpi:BMA250E*:dmi:bvnLENOVO:*:pvrLenovoMIIX3-1030:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# Miix3-830
sensor:modalias:acpi:SMO8500*:dmi:bvnLENOVO:*:pvrLenovoMIIX3-830:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
# IdeaPad Miix 310 note this only is for BIOS version (bvr) 1HCN4?WW, which has
# a portrait LCD panel, versions with bvr 1HCN3?WW have a landscape panel
sensor:modalias:acpi:KIOX000A*:dmi:bvnLENOVO:bvr1HCN4?WW:*:svnLENOVO:pn80SG:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
# IdeaPad Miix 320, different batches use a different sensor
sensor:modalias:acpi:*BOSC0200*:dmi:*:svnLENOVO*:pn80XF:*
sensor:modalias:acpi:SMO8840*:dmi:*:svnLENOVO:pn80XF:pvrLenovoMIIX320*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# IdeaPad Miix 510
sensor:modalias:acpi:*BOSC0200*:dmi:*:svnLENOVO*:pn80XE:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# LINX
#########################################
# Linx 1010B
sensor:modalias:acpi:BOSC0200*:dmi:*:svnLINX*:pnLINX1010B:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, -1
# Linx 12X64
sensor:modalias:acpi:KIOX000A*:dmi:*:svnLINX*:pnLINX12X64:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# MSI
#########################################
sensor:modalias:acpi:SMO8500*:dmi:*:svnMicro-StarInternationalCo.,Ltd.:pnS100:*
ACCEL_MOUNT_MATRIX=0, -1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Nuvision (TMax)
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:*:svnTMAX:pnTM800W560L:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
#########################################
# Onda
#########################################
sensor:modalias:acpi:BOSC0200*:dmi:*:svnONDA:pnV80PLUS:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
sensor:modalias:acpi:BMA250E*:dmi:bvnINSYDECorp.:bvrONDA.D89*:svnInsyde:pnONDATablet:*
sensor:modalias:acpi:BMA250E*:dmi:bvnINSYDECorp.:bvrONDA.W89*:svnInsyde:pnONDATablet:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
# Onda v975w, generic DMI strings, match entire dmi modalias inc. bios-date
sensor:modalias:acpi:SMO8500*:dmi:bvnAmericanMegatrendsInc.:bvr5.6.5:bd07/25/2014:svnTobefilledbyO.E.M.:pnTobefilledbyO.E.M.:pvrTobefilledbyO.E.M.:rvnAMICorporation:rnAptioCRB:rvrTobefilledbyO.E.M.:cvnToBeFilledByO.E.M.:ct3:cvrToBeFilledByO.E.M.:
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# Peaq
#########################################
sensor:modalias:acpi:SMO8500*:dmi:*:svnPEAQ:pnPEAQPMMC1010MD99187:*
ACCEL_MOUNT_MATRIX=-1, 0, 0; 0, 1, 0; 0, 0, 1
#########################################
# Pipo
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:*:svnPIPO:pnW2S:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
# Pipo W4
sensor:modalias:acpi:SMO8500*:dmi:*:bvrV8L_WIN32_CHIPHD_*_DX:*:rvnAMICorporation:rnAptioCRB:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# Ployer
#########################################
sensor:modalias:acpi:BMA250E*:dmi:*:svnShenzhenPLOYER*:pnMOMO7W:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Point of View
#########################################
# The Point of View TAB-P800W does not have its product name filled, so we
# match the entire dmi-alias, assuming that the use of a BMA250E +
# bios-version + bios-date combo is unique
sensor:modalias:acpi:BMA250E*:dmi:bvnAmericanMegatrendsInc.:bvr3BAIR1013:bd08/22/2014:svnTobefilledbyO.E.M.:pnTobefilledbyO.E.M.:pvrTobefilledbyO.E.M.:rvnAMICorporation:rnAptioCRB:rvrTobefilledbyO.E.M.:cvnToBeFilledByO.E.M.:ct3:cvrToBeFilledByO.E.M.:
sensor:modalias:acpi:BMA250E*:dmi:bvnAmericanMegatrendsInc.:bvr3BAIR1014:bd10/24/2014:svnTobefilledbyO.E.M.:pnTobefilledbyO.E.M.:pvrTobefilledbyO.E.M.:rvnAMICorporation:rnAptioCRB:rvrTobefilledbyO.E.M.:cvnToBeFilledByO.E.M.:ct3:cvrToBeFilledByO.E.M.:
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Teclast
#########################################
sensor:modalias:acpi:KIOX000A*:dmi:*:svnTECLAST:pnX80Pro:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
sensor:modalias:acpi:KIOX000A*:dmi:*:svnTECLAST:pnX98PlusII:*
ACCEL_MOUNT_MATRIX=1, 0, 0; 0, -1, 0; 0, 0, 1
# Teclast X98 Plus I (A5C6), generic DMI strings, match entire dmi modalias inc. bios-date
sensor:modalias:acpi:KIOX000A*:dmi:bvnAmericanMegatrendsInc.:bvr5.011:bd11/03/2015:svnTobefilledbyO.E.M.:pnTobefilledbyO.E.M.:pvrTobefilledbyO.E.M.:rvnAMICorporation:rnCherryTrailCR:rvrTobefilledbyO.E.M.:cvnToBeFilledByO.E.M.:ct3:cvrToBeFilledByO.E.M.:
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Trekstor
#########################################
sensor:modalias:acpi:BMA250*:dmi:*:bvrTREK.G.WI71C.JGBMRBA*:*:svnInsyde:pnST70416-6:*
sensor:modalias:acpi:BMA250*:dmi:*:bvrTREK.G.WI71C.JGBMRBA*:*:svnTrekStor:pnSurfTabwintron7.0ST70416-6:*
ACCEL_MOUNT_MATRIX=0, 1, 0; 1, 0, 0; 0, 0, 1
#########################################
# Umax
#########################################
sensor:modalias:acpi:SMO8500*:dmi:*:svnUMAX:pnVisionBook10WiPlus:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
#########################################
# Yours
#########################################
sensor:modalias:acpi:BMA250E*:dmi:*:svnYOURS:pnY8W81:*
ACCEL_MOUNT_MATRIX=0, -1, 0; -1, 0, 0; 0, 0, 1
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