arch/arm/boot/dts/omap4-droid4-xt894.dts

   1 /*
   2  * This program is free software; you can redistribute it and/or modify
   3  * it under the terms of the GNU General Public License version 2 as
   4  * published by the Free Software Foundation.
   5  */
   6 /dts-v1/;
   7
   8 #include <dt-bindings/input/input.h>
   9 #include "omap443x.dtsi"
  10 #include "motorola-cpcap-mapphone.dtsi"
  11
  12 / {
  13         model = "Motorola Droid 4 XT894";
  14         compatible = "motorola,droid4", "ti,omap4430", "ti,omap4";
  15
  16         chosen {
  17                 stdout-path = &uart3;
  18         };
  19
  20         aliases {
  21                 display0 = &lcd0;
  22                 display1 = &hdmi0;
  23         };
  24
  25         /*
  26          * We seem to have only 1021 MB accessible, 1021 - 1022 is locked,
  27          * then 1023 - 1024 seems to contain mbm.
  28          */
  29         memory {
  30                 device_type = "memory";
  31                 reg = <0x80000000 0x3fd00000>;  /* 1021 MB */
  32         };
  33
  34         /* Poweroff GPIO probably connected to CPCAP */
  35         gpio-poweroff {
  36                 compatible = "gpio-poweroff";
  37                 pinctrl-0 = <&poweroff_gpio>;
  38                 pinctrl-names = "default";
  39                 gpios = <&gpio2 18 GPIO_ACTIVE_LOW>;    /* gpio50 */
  40         };
  41
  42         hdmi0: connector {
  43                 compatible = "hdmi-connector";
  44                 pinctrl-0 = <&hdmi_hpd_gpio>;
  45                 pinctrl-names = "default";
  46                 label = "hdmi";
  47                 type = "d";
  48
  49                 hpd-gpios = <&gpio2 31 GPIO_ACTIVE_HIGH>;       /* gpio63 */
  50
  51                 port {
  52                         hdmi_connector_in: endpoint {
  53                                 remote-endpoint = <&hdmi_out>;
  54                         };
  55                 };
  56         };
  57
  58         /*
  59          * HDMI 5V regulator probably sourced from battery. Let's keep
  60          * keep this as always enabled for HDMI to work until we've
  61          * figured what the encoder chip is.
  62          */
  63         hdmi_regulator: regulator-hdmi {
  64                 compatible = "regulator-fixed";
  65                 regulator-name = "hdmi";
  66                 regulator-min-microvolt = <5000000>;
  67                 regulator-max-microvolt = <5000000>;
  68                 gpio = <&gpio2 27 GPIO_ACTIVE_HIGH>;    /* gpio59 */
  69                 enable-active-high;
  70                 regulator-always-on;
  71         };
  72
  73         /* HS USB Host PHY on PORT 1 */
  74         hsusb1_phy: hsusb1_phy {
  75                 compatible = "usb-nop-xceiv";
  76         };
  77
  78         /* LCD regulator from sw5 source */
  79         lcd_regulator: regulator-lcd {
  80                 compatible = "regulator-fixed";
  81                 regulator-name = "lcd";
  82                 regulator-min-microvolt = <5050000>;
  83                 regulator-max-microvolt = <5050000>;
  84                 gpio = <&gpio4 0 GPIO_ACTIVE_HIGH>;     /* gpio96 */
  85                 enable-active-high;
  86                 vin-supply = <&sw5>;
  87         };
  88
  89         /* This is probably coming straight from the battery.. */
  90         wl12xx_vmmc: regulator-wl12xx {
  91                 compatible = "regulator-fixed";
  92                 regulator-name = "vwl1271";
  93                 regulator-min-microvolt = <1650000>;
  94                 regulator-max-microvolt = <1650000>;
  95                 gpio = <&gpio3 30 GPIO_ACTIVE_HIGH>;    /* gpio94 */
  96                 startup-delay-us = <70000>;
  97                 enable-active-high;
  98         };
  99
 100         gpio_keys {
 101                 compatible = "gpio-keys";
 102
 103                 volume_down {
 104                         label = "Volume Down";
 105                         gpios = <&gpio5 26 GPIO_ACTIVE_LOW>; /* gpio154 */
 106                         linux,code = <KEY_VOLUMEDOWN>;
 107                         linux,can-disable;
 108                 };
 109
 110                 slider {
 111                         label = "Keypad Slide";
 112                         gpios = <&gpio4 26 GPIO_ACTIVE_HIGH>; /* gpio122 */
 113                         linux,input-type = <EV_SW>;
 114                         linux,code = <SW_KEYPAD_SLIDE>;
 115                         linux,can-disable;
 116
 117                 };
 118         };
 119 };
 120
 121 &dss {
 122         status = "okay";
 123 };
 124
 125 &gpio6 {
 126         touchscreen_reset {
 127                 gpio-hog;
 128                 gpios = <13 0>;
 129                 output-high;
 130                 line-name = "touchscreen-reset";
 131         };
 132 };
 133
 134 &dsi1 {
 135         status = "okay";
 136         vdd-supply = <&vcsi>;
 137
 138         port {
 139                 dsi1_out_ep: endpoint {
 140                         remote-endpoint = <&lcd0_in>;
 141                         lanes = <0 1 2 3 4 5>;
 142                 };
 143         };
 144
 145         lcd0: display {
 146                 compatible = "panel-dsi-cm";
 147                 label = "lcd0";
 148                 vddi-supply = <&lcd_regulator>;
 149                 reset-gpios = <&gpio4 5 GPIO_ACTIVE_HIGH>;      /* gpio101 */
 150
 151                 panel-timing {
 152                         clock-frequency = <0>;          /* Calculated by dsi */
 153
 154                         hback-porch = <2>;
 155                         hactive = <540>;
 156                         hfront-porch = <0>;
 157                         hsync-len = <2>;
 158
 159                         vback-porch = <1>;
 160                         vactive = <960>;
 161                         vfront-porch = <0>;
 162                         vsync-len = <1>;
 163
 164                         hsync-active = <0>;
 165                         vsync-active = <0>;
 166                         de-active = <1>;
 167                         pixelclk-active = <1>;
 168                 };
 169
 170                 port {
 171                         lcd0_in: endpoint {
 172                                 remote-endpoint = <&dsi1_out_ep>;
 173                         };
 174                 };
 175         };
 176 };
 177
 178 &hdmi {
 179         status = "okay";
 180         pinctrl-0 = <&dss_hdmi_pins>;
 181         pinctrl-names = "default";
 182         vdda-supply = <&vdac>;
 183
 184         port {
 185                 hdmi_out: endpoint {
 186                         remote-endpoint = <&hdmi_connector_in>;
 187                         lanes = <1 0 3 2 5 4 7 6>;
 188                 };
 189         };
 190 };
 191
 192 &i2c1 {
 193         tmp105@48 {
 194                 compatible = "ti,tmp105";
 195                 reg = <0x48>;
 196                 pinctrl-0 = <&tmp105_irq>;
 197                 pinctrl-names = "default";
 198                 /* kpd_row0.gpio_178 */
 199                 interrupts-extended = <&gpio6 18 IRQ_TYPE_EDGE_FALLING
 200                                        &omap4_pmx_core 0x14e>;
 201                 interrupt-names = "irq", "wakeup";
 202                 wakeup-source;
 203         };
 204 };
 205
 206 &keypad {
 207         keypad,num-rows = <8>;
 208         keypad,num-columns = <8>;
 209         linux,keymap = <
 210
 211         /* Row 1 */
 212         MATRIX_KEY(0, 2, KEY_1)
 213         MATRIX_KEY(0, 6, KEY_2)
 214         MATRIX_KEY(2, 3, KEY_3)
 215         MATRIX_KEY(0, 7, KEY_4)
 216         MATRIX_KEY(0, 4, KEY_5)
 217         MATRIX_KEY(5, 5, KEY_6)
 218         MATRIX_KEY(0, 1, KEY_7)
 219         MATRIX_KEY(0, 5, KEY_8)
 220         MATRIX_KEY(0, 0, KEY_9)
 221         MATRIX_KEY(1, 6, KEY_0)
 222
 223         /* Row 2 */
 224         MATRIX_KEY(3, 4, KEY_APOSTROPHE)
 225         MATRIX_KEY(7, 6, KEY_Q)
 226         MATRIX_KEY(7, 7, KEY_W)
 227         MATRIX_KEY(7, 2, KEY_E)
 228         MATRIX_KEY(1, 0, KEY_R)
 229         MATRIX_KEY(4, 4, KEY_T)
 230         MATRIX_KEY(1, 2, KEY_Y)
 231         MATRIX_KEY(6, 7, KEY_U)
 232         MATRIX_KEY(2, 2, KEY_I)
 233         MATRIX_KEY(5, 6, KEY_O)
 234         MATRIX_KEY(3, 7, KEY_P)
 235         MATRIX_KEY(6, 5, KEY_BACKSPACE)
 236
 237         /* Row 3 */
 238         MATRIX_KEY(5, 4, KEY_TAB)
 239         MATRIX_KEY(5, 7, KEY_A)
 240         MATRIX_KEY(2, 7, KEY_S)
 241         MATRIX_KEY(7, 0, KEY_D)
 242         MATRIX_KEY(2, 6, KEY_F)
 243         MATRIX_KEY(6, 2, KEY_G)
 244         MATRIX_KEY(6, 6, KEY_H)
 245         MATRIX_KEY(1, 4, KEY_J)
 246         MATRIX_KEY(3, 1, KEY_K)
 247         MATRIX_KEY(2, 1, KEY_L)
 248         MATRIX_KEY(4, 6, KEY_ENTER)
 249
 250         /* Row 4 */
 251         MATRIX_KEY(3, 6, KEY_LEFTSHIFT)         /* KEY_CAPSLOCK */
 252         MATRIX_KEY(6, 1, KEY_Z)
 253         MATRIX_KEY(7, 4, KEY_X)
 254         MATRIX_KEY(5, 1, KEY_C)
 255         MATRIX_KEY(1, 7, KEY_V)
 256         MATRIX_KEY(2, 4, KEY_B)
 257         MATRIX_KEY(4, 1, KEY_N)
 258         MATRIX_KEY(1, 1, KEY_M)
 259         MATRIX_KEY(3, 5, KEY_COMMA)
 260         MATRIX_KEY(5, 2, KEY_DOT)
 261         MATRIX_KEY(6, 3, KEY_UP)
 262         MATRIX_KEY(7, 3, KEY_OK)
 263
 264         /* Row 5 */
 265         MATRIX_KEY(2, 5, KEY_LEFTCTRL)          /* KEY_LEFTSHIFT */
 266         MATRIX_KEY(4, 5, KEY_LEFTALT)           /* SYM */
 267         MATRIX_KEY(6, 0, KEY_MINUS)
 268         MATRIX_KEY(4, 7, KEY_EQUAL)
 269         MATRIX_KEY(1, 5, KEY_SPACE)
 270         MATRIX_KEY(3, 2, KEY_SLASH)
 271         MATRIX_KEY(4, 3, KEY_LEFT)
 272         MATRIX_KEY(5, 3, KEY_DOWN)
 273         MATRIX_KEY(3, 3, KEY_RIGHT)
 274
 275         /* Side buttons, KEY_VOLUMEDOWN and KEY_PWER are on CPCAP? */
 276         MATRIX_KEY(5, 0, KEY_VOLUMEUP)
 277         >;
 278 };
 279
 280 &mmc1 {
 281         vmmc-supply = <&vwlan2>;
 282         bus-width = <4>;
 283         cd-gpios = <&gpio6 16 GPIO_ACTIVE_LOW>; /* gpio176 */
 284 };
 285
 286 &mmc2 {
 287         vmmc-supply = <&vsdio>;
 288         bus-width = <8>;
 289         non-removable;
 290 };
 291
 292 &mmc3 {
 293         vmmc-supply = <&wl12xx_vmmc>;
 294         interrupts-extended = <&wakeupgen GIC_SPI 94 IRQ_TYPE_LEVEL_HIGH
 295                                &omap4_pmx_core 0xde>;
 296
 297         non-removable;
 298         bus-width = <4>;
 299         cap-power-off-card;
 300
 301         #address-cells = <1>;
 302         #size-cells = <0>;
 303         wlcore: wlcore@2 {
 304                 compatible = "ti,wl1285", "ti,wl1283";
 305                 reg = <2>;
 306                 interrupt-parent = <&gpio4>;
 307                 interrupts = <4 IRQ_TYPE_LEVEL_HIGH>; /* gpio100 */
 308                 ref-clock-frequency = <26000000>;
 309                 tcxo-clock-frequency = <26000000>;
 310         };
 311 };
 312
 313 &i2c1 {
 314         lm3532@38 {
 315                 compatible = "ti,lm3532";
 316                 reg = <0x38>;
 317
 318                 enable-gpios = <&gpio6 12 GPIO_ACTIVE_HIGH>;
 319
 320                 backlight {
 321                         compatible = "ti,lm3532-backlight";
 322
 323                         lcd {
 324                                 led-sources = <0 1 2>;
 325                                 ramp-up-msec = <1>;
 326                                 ramp-down-msec = <0>;
 327                         };
 328                 };
 329         };
 330 };
 331
 332 /*
 333  * REVISIT: Add gpio173 reset pin handling to the driver, see gpio-hog above.
 334  * If the GPIO reset is used, we probably need to have /lib/firmware/maxtouch.fw
 335  * available. See "mxt-app" and "droid4-touchscreen-firmware" tools for more
 336  * information.
 337  */
 338 &i2c2 {
 339         tsp@4a {
 340                 compatible = "atmel,maxtouch";
 341                 reg = <0x4a>;
 342                 pinctrl-names = "default";
 343                 pinctrl-0 = <&touchscreen_pins>;
 344
 345                 /* gpio_183 with sys_nirq2 pad as wakeup */
 346                 interrupts-extended = <&gpio6 23 IRQ_TYPE_EDGE_FALLING
 347                                        &omap4_pmx_core 0x160>;
 348                 interrupt-names = "irq", "wakeup";
 349                 wakeup-source;
 350         };
 351
 352         isl29030@44 {
 353                 compatible = "isil,isl29030";
 354                 reg = <0x44>;
 355
 356                 pinctrl-names = "default";
 357                 pinctrl-0 = <&als_proximity_pins>;
 358
 359                 interrupt-parent = <&gpio6>;
 360                 interrupts = <17 IRQ_TYPE_LEVEL_LOW>; /* gpio177 */
 361         };
 362 };
 363
 364 &omap4_pmx_core {
 365
 366         /* hdmi_hpd.gpio_63 */
 367         hdmi_hpd_gpio: pinmux_hdmi_hpd_pins {
 368                 pinctrl-single,pins = <
 369                 OMAP4_IOPAD(0x098, PIN_INPUT | MUX_MODE3)
 370                 >;
 371         };
 372
 373         /* hdmi_cec.hdmi_cec, hdmi_scl.hdmi_scl, hdmi_sda.hdmi_sda */
 374         dss_hdmi_pins: pinmux_dss_hdmi_pins {
 375                 pinctrl-single,pins = <
 376                 OMAP4_IOPAD(0x09a, PIN_INPUT_PULLUP | MUX_MODE0)
 377                 OMAP4_IOPAD(0x09c, PIN_INPUT | MUX_MODE0)
 378                 OMAP4_IOPAD(0x09e, PIN_INPUT | MUX_MODE0)
 379                 >;
 380         };
 381
 382         /* gpmc_ncs0.gpio_50 */
 383         poweroff_gpio: pinmux_poweroff_pins {
 384                 pinctrl-single,pins = <
 385                 OMAP4_IOPAD(0x074, PIN_OUTPUT_PULLUP | MUX_MODE3)
 386                 >;
 387         };
 388
 389         /* kpd_row0.gpio_178 */
 390         tmp105_irq: pinmux_tmp105_irq {
 391                 pinctrl-single,pins = <
 392                 OMAP4_IOPAD(0x18e, PIN_INPUT_PULLUP | MUX_MODE3)
 393                 >;
 394         };
 395
 396         usb_gpio_mux_sel1: pinmux_usb_gpio_mux_sel1_pins {
 397                 /* gpio_60 */
 398                 pinctrl-single,pins = <
 399                 OMAP4_IOPAD(0x088, PIN_OUTPUT | MUX_MODE3)
 400                 >;
 401         };
 402
 403         touchscreen_pins: pinmux_touchscreen_pins {
 404                 pinctrl-single,pins = <
 405                 OMAP4_IOPAD(0x1a0, PIN_INPUT_PULLUP | MUX_MODE3)
 406                 >;
 407         };
 408
 409         als_proximity_pins: pinmux_als_proximity_pins {
 410                 pinctrl-single,pins = <
 411                 OMAP4_IOPAD(0x18c, PIN_INPUT_PULLUP | MUX_MODE3)
 412                 >;
 413         };
 414
 415         usb_ulpi_pins: pinmux_usb_ulpi_pins {
 416                 pinctrl-single,pins = <
 417                 OMAP4_IOPAD(0x196, MUX_MODE7)
 418                 OMAP4_IOPAD(0x198, MUX_MODE7)
 419                 OMAP4_IOPAD(0x1b2, PIN_INPUT_PULLUP | MUX_MODE0)
 420                 OMAP4_IOPAD(0x1b4, PIN_INPUT_PULLUP | MUX_MODE0)
 421                 OMAP4_IOPAD(0x1b6, PIN_INPUT_PULLUP | MUX_MODE0)
 422                 OMAP4_IOPAD(0x1b8, PIN_INPUT_PULLUP | MUX_MODE0)
 423                 OMAP4_IOPAD(0x1ba, PIN_INPUT_PULLUP | MUX_MODE0)
 424                 OMAP4_IOPAD(0x1bc, PIN_INPUT_PULLUP | MUX_MODE0)
 425                 OMAP4_IOPAD(0x1be, PIN_INPUT_PULLUP | MUX_MODE0)
 426                 OMAP4_IOPAD(0x1c0, PIN_INPUT_PULLUP | MUX_MODE0)
 427                 OMAP4_IOPAD(0x1c2, PIN_INPUT_PULLUP | MUX_MODE0)
 428                 OMAP4_IOPAD(0x1c4, PIN_INPUT_PULLUP | MUX_MODE0)
 429                 OMAP4_IOPAD(0x1c6, PIN_INPUT_PULLUP | MUX_MODE0)
 430                 OMAP4_IOPAD(0x1c8, PIN_INPUT_PULLUP | MUX_MODE0)
 431                 >;
 432         };
 433
 434         /* usb0_otg_dp and usb0_otg_dm */
 435         usb_utmi_pins: pinmux_usb_utmi_pins {
 436                 pinctrl-single,pins = <
 437                 OMAP4_IOPAD(0x196, PIN_INPUT | MUX_MODE0)
 438                 OMAP4_IOPAD(0x198, PIN_INPUT | MUX_MODE0)
 439                 OMAP4_IOPAD(0x1b2, PIN_INPUT_PULLUP | MUX_MODE7)
 440                 OMAP4_IOPAD(0x1b4, PIN_INPUT_PULLUP | MUX_MODE7)
 441                 OMAP4_IOPAD(0x1b6, PIN_INPUT_PULLUP | MUX_MODE7)
 442                 OMAP4_IOPAD(0x1b8, PIN_INPUT_PULLUP | MUX_MODE7)
 443                 OMAP4_IOPAD(0x1ba, PIN_INPUT_PULLUP | MUX_MODE7)
 444                 OMAP4_IOPAD(0x1bc, PIN_INPUT_PULLUP | MUX_MODE7)
 445                 OMAP4_IOPAD(0x1be, PIN_INPUT_PULLUP | MUX_MODE7)
 446                 OMAP4_IOPAD(0x1c0, PIN_INPUT_PULLUP | MUX_MODE7)
 447                 OMAP4_IOPAD(0x1c2, PIN_INPUT_PULLUP | MUX_MODE7)
 448                 OMAP4_IOPAD(0x1c4, PIN_INPUT_PULLUP | MUX_MODE7)
 449                 OMAP4_IOPAD(0x1c6, PIN_INPUT_PULLUP | MUX_MODE7)
 450                 OMAP4_IOPAD(0x1c8, PIN_INPUT_PULLUP | MUX_MODE7)
 451                 >;
 452         };
 453
 454         /* uart3_tx_irtx and uart3_rx_irrx */
 455         uart3_pins: pinmux_uart3_pins {
 456                 pinctrl-single,pins = <
 457                 OMAP4_IOPAD(0x196, MUX_MODE7)
 458                 OMAP4_IOPAD(0x198, MUX_MODE7)
 459                 OMAP4_IOPAD(0x1b2, PIN_INPUT_PULLUP | MUX_MODE7)
 460                 OMAP4_IOPAD(0x1b4, PIN_INPUT_PULLUP | MUX_MODE7)
 461                 OMAP4_IOPAD(0x1b6, PIN_INPUT_PULLUP | MUX_MODE7)
 462                 OMAP4_IOPAD(0x1b8, PIN_INPUT_PULLUP | MUX_MODE7)
 463                 OMAP4_IOPAD(0x1ba, MUX_MODE2)
 464                 OMAP4_IOPAD(0x1bc, PIN_INPUT | MUX_MODE2)
 465                 OMAP4_IOPAD(0x1be, PIN_INPUT_PULLUP | MUX_MODE7)
 466                 OMAP4_IOPAD(0x1c0, PIN_INPUT_PULLUP | MUX_MODE7)
 467                 OMAP4_IOPAD(0x1c2, PIN_INPUT_PULLUP | MUX_MODE7)
 468                 OMAP4_IOPAD(0x1c4, PIN_INPUT_PULLUP | MUX_MODE7)
 469                 OMAP4_IOPAD(0x1c6, PIN_INPUT_PULLUP | MUX_MODE7)
 470                 OMAP4_IOPAD(0x1c8, PIN_INPUT_PULLUP | MUX_MODE7)
 471                 >;
 472         };
 473
 474         uart4_pins: pinmux_uart4_pins {
 475                 pinctrl-single,pins = <
 476                 OMAP4_IOPAD(0x15c, PIN_INPUT | MUX_MODE0)               /* uart4_rx */
 477                 OMAP4_IOPAD(0x15e, PIN_OUTPUT | MUX_MODE0)              /* uart4_tx */
 478                 OMAP4_IOPAD(0x110, PIN_INPUT_PULLUP | MUX_MODE5)        /* uart4_cts */
 479                 OMAP4_IOPAD(0x112, PIN_OUTPUT_PULLUP | MUX_MODE5)       /* uart4_rts */
 480                 >;
 481         };
 482 };
 483
 484 &omap4_pmx_wkup {
 485         usb_gpio_mux_sel2: pinmux_usb_gpio_mux_sel2_pins {
 486                 /* gpio_wk0 */
 487                 pinctrl-single,pins = <
 488                 OMAP4_IOPAD(0x040, PIN_OUTPUT_PULLDOWN | MUX_MODE3)
 489                 >;
 490         };
 491 };
 492
 493 &uart3 {
 494         interrupts-extended = <&wakeupgen GIC_SPI 74 IRQ_TYPE_LEVEL_HIGH
 495                                &omap4_pmx_core 0x17c>;
 496 };
 497
 498 &uart4 {
 499         pinctrl-names = "default";
 500         pinctrl-0 = <&uart4_pins>;
 501
 502         bluetooth {
 503                 compatible = "ti,wl1285-st";
 504                 enable-gpios = <&gpio6 14 GPIO_ACTIVE_HIGH>; /* gpio 174 */
 505                 max-speed = <3686400>;
 506         };
 507 };
 508
 509 &usbhsehci {
 510         phys = <&hsusb1_phy>;
 511 };
 512
 513 &usbhshost {
 514         port1-mode = "ohci-phy-4pin-dpdm";
 515         port2-mode = "ehci-tll";
 516 };
 517
 518 /* Internal UTMI+ PHY used for OTG, CPCAP ULPI PHY for detection and charger */
 519 &usb_otg_hs {
 520         interface-type = <1>;
 521         mode = <3>;
 522         power = <50>;
 523 };
 524
 525 &i2c4 {
 526         ak8975: magnetometer@c {
 527                 compatible = "asahi-kasei,ak8975";
 528                 reg = <0x0c>;
 529
 530                 vdd-supply = <&vhvio>;
 531
 532                 interrupt-parent = <&gpio6>;
 533                 interrupts = <15 IRQ_TYPE_EDGE_RISING>; /* gpio175 */
 534
 535                 rotation-matrix = "-1", "0", "0",
 536                                   "0", "1", "0",
 537                                   "0", "0", "-1";
 538
 539         };
 540
 541         lis3dh: accelerometer@18 {
 542                 compatible = "st,lis3dh-accel";
 543                 reg = <0x18>;
 544
 545                 vdd-supply = <&vhvio>;
 546
 547                 interrupt-parent = <&gpio2>;
 548                 interrupts = <2 IRQ_TYPE_EDGE_BOTH>; /* gpio34 */
 549
 550                 rotation-matrix = "0", "-1", "0",
 551                                   "1", "0", "0",
 552                                   "0", "0", "1";
 553         };
 554 };