5c9d6d44f3
Introduces the ability to set static axis alignment of a sensor from DT params. Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
114 lines
3.2 KiB
YAML
114 lines
3.2 KiB
YAML
# Copyright 2025 CogniPilot Foundation
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# SPDX-License-Identifier: Apache-2.0
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description: |
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Axis alignment specification for sensors
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that require orientation. This can be used for
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sensors that have more than one axis. It is used by
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assigning the hardware's internal axes to an external
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reference frame axes of choice (IE, orientation of sensor
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on a board or overall system mounting).
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Consider a sensor (sensor-top-90) that follows right hand rule,
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and when mounted to the board was rotated clockwise around it's Z axis
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90 degrees from another identical directional sensor (sensor-bottom)
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that was mounted on the bottom side of the board.
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To have the sensors all in the same board reference frame a simple
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axis change can be performed by changing the axis output of
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sensor-top-90 as follows:
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x -> +y
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y -> -x
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z -> +z
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To align the sensor that is on the bottom side of the board an
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axis output change for sensor-bottom would be as followed:
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x -> +x
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y -> -y
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z -> -z
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Example of how to encode that into DTS:
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#include <zephyr/dt-bindings/sensor/sensor_axis_align.h>
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sensor-top-90: sensor-top-90@0 {
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...
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axis-align-x = <SENSOR_AXIS_ALIGN_DT_Y>
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axis-align-y = <SENSOR_AXIS_ALIGN_DT_X>
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axis-align-y-sign = <SENSOR_AXIS_ALIGN_DT_NEG>
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axis-align-z = <SENSOR_AXIS_ALIGN_DT_Z>
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};
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sensor-bottom: sensor-bottom@1 {
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...
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axis-align-x = <SENSOR_AXIS_ALIGN_DT_X>
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axis-align-y = <SENSOR_AXIS_ALIGN_DT_Y>
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axis-align-y-sign = <SENSOR_AXIS_ALIGN_DT_NEG>
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axis-align-z = <SENSOR_AXIS_ALIGN_DT_Z>
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axis-align-z-sign = <SENSOR_AXIS_ALIGN_DT_NEG>
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};
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include: base.yaml
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properties:
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axis-align-x:
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type: int
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default: 0
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description: |
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Align sensor chanel x output with hardware orientation axis.
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Defaults to x.
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enum:
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- 0 # SENSOR_AXIS_ALIGN_DT_X
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- 1 # SENSOR_AXIS_ALIGN_DT_Y
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- 2 # SENSOR_AXIS_ALIGN_DT_Z
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axis-align-x-sign:
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type: int
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default: 2
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description: |
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Align sensor chanel x output with hardware orientation axis sign component.
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Defaults to positive.
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enum:
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- 0 # SENSOR_AXIS_ALIGN_DT_NEG
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- 2 # SENSOR_AXIS_ALIGN_DT_POS
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axis-align-y:
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type: int
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default: 1
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description: |
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Align sensor chanel y output with hardware orientation axis.
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Defaults to y.
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enum:
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- 0 # SENSOR_AXIS_ALIGN_DT_X
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- 1 # SENSOR_AXIS_ALIGN_DT_Y
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- 2 # SENSOR_AXIS_ALIGN_DT_Z
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axis-align-y-sign:
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type: int
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default: 2
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description: |
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Align sensor chanel y output with hardware orientation axis sign component.
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Defaults to positive.
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enum:
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- 0 # SENSOR_AXIS_ALIGN_DT_NEG
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- 2 # SENSOR_AXIS_ALIGN_DT_POS
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axis-align-z:
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type: int
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default: 2
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description: |
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Align sensor chanel z output with hardware orientation axis.
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Defaults to z.
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enum:
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- 0 # SENSOR_AXIS_ALIGN_DT_X
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- 1 # SENSOR_AXIS_ALIGN_DT_Y
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- 2 # SENSOR_AXIS_ALIGN_DT_Z
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axis-align-z-sign:
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type: int
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default: 2
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description: |
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Align sensor chanel z output with hardware orientation axis sign component.
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Defaults to positive.
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enum:
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- 0 # SENSOR_AXIS_ALIGN_DT_NEG
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- 2 # SENSOR_AXIS_ALIGN_DT_POS
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