nautilus: change the reference value, NOISY_MAGNITUDE_DEVIATION

Changed NOISY_MAGNITUDE_DEVIATION from 1 to 1.5.
Current value seems to be set too low.
So ec could regard lid angle as unreliable even when sensors are at rest.

BUG=b:79670788
BRANCH=firmware-poppy-10431.B
TEST=Build & flash EC then ectool motionsense

Change-Id: I07c3e5c2149e7dade567592a437d36d3a294b7af
Signed-off-by: Inno Park <ih.yoo.park@samsung.com>
Signed-off-by: Aseda Aboagye <aaboagye@google.com>
Reviewed-on: https://chromium-review.googlesource.com/1065954
Tested-by: Aseda Aboagye <aaboagye@chromium.org>
Tested-by: Ih-Yoo Park <ih.yoo.park@samsung.corp-partner.google.com>
Reviewed-by: Ih-Yoo Park <ih.yoo.park@samsung.corp-partner.google.com>
Reviewed-by: Philip Chen <philipchen@chromium.org>
Commit-Queue: Ih-Yoo Park <ih.yoo.park@samsung.corp-partner.google.com>

3 files changed, 24 insertions, 15 deletions

diff --git a/board/nautilus/board.h b/board/nautilus/board.h
index 74eced7a49..31c48f9b75 100644
--- a/board/nautilus/board.h
+++ b/board/nautilus/board.h
@@ -126,7 +126,15 @@
 #define CONFIG_LID_ANGLE_UPDATE
 #define CONFIG_LID_ANGLE_TABLET_MODE
 #define CONFIG_LID_ANGLE_INVALID_CHECK
-/* Lower maximal ODR to 100Hz */
+/*
+ * Workound for b/79670788.
+ *
+ * Be more lenient when determining valid lid angles.
+ */
+#undef CONFIG_NOISY_MAGNITUDE_DEVIATION
+#define CONFIG_NOISY_MAGNITUDE_DEVIATION FLOAT_TO_FP(1.5)
+
+/* Lower maximal ODR to 100Hz. */
 #define CONFIG_EC_MAX_SENSOR_FREQ_MILLIHZ 100000
 
 /* FIFO size is in power of 2. */
diff --git a/common/motion_lid.c b/common/motion_lid.c
index 38efea172e..a7c9f13f3b 100644
--- a/common/motion_lid.c
+++ b/common/motion_lid.c
@@ -105,15 +105,6 @@ static int lid_angle_is_reliable;
 #define DEBOUNCE_ANGLE_DELTA FLOAT_TO_FP(45)
 
 /*
- * Since the accelerometers are on the same physical device, they should be
- * under the same acceleration.  This constant, which mirrors
- * kNoisyMagnitudeDeviation used in Chromium, is an integer which defines the
- * maximum deviation in magnitude between the base and lid vectors.  The units
- * are in m/s^2.
- */
-#define NOISY_MAGNITUDE_DEVIATION 1
-
-/*
  * Define the accelerometer orientation matrices based on the standard
  * reference frame in use (note: accel data is converted to standard ref
  * frame before calculating lid angle).
@@ -280,8 +271,9 @@ static int calculate_lid_angle(const vector_3_t base, const vector_3_t lid,
 			  scaled_lid[Z] * scaled_lid[Z]) >> 6;
 
 	/*
-	 * Check to see if they differ than more than NOISY_MAGNITUDE_DEVIATION.
-	 * If the vectors do, then the measured angle is unreliable.
+	 * Check to see if they differ than more than
+	 * CONFIG_NOISY_MAGNITUDE_DEVIATION.  If the vectors do, then the
+	 * measured angle is unreliable.
 	 *
 	 * Note, that we don't actually have to take the square root to get the
 	 * magnitude, but we can work with the magnitudes squared directly as
@@ -297,10 +289,10 @@ static int calculate_lid_angle(const vector_3_t base, const vector_3_t lid,
 	 * If we assume that the average acceleration should be about 1g, then
 	 * we have:
 	 *
-	 *          (A^2 - B^2) < 2 * 1g * NOISY_MAGNITUDE_DEVIATION
+	 *          (A^2 - B^2) < 2 * 1g * CONFIG_NOISY_MAGNITUDE_DEVIATION
 	 */
-	if (ABS(base_magnitude2 - lid_magnitude2) >
-	    (2 * 10 * NOISY_MAGNITUDE_DEVIATION))
+	if (FLOAT_TO_FP(ABS(base_magnitude2 - lid_magnitude2)) >
+	    FLOAT_TO_FP(2 * 10 * CONFIG_NOISY_MAGNITUDE_DEVIATION))
 		reliable = 0;
 
 #ifdef CONFIG_LID_ANGLE_INVALID_CHECK
diff --git a/include/config.h b/include/config.h
index 5bf4f302bc..c8980a9aaf 100644
--- a/include/config.h
+++ b/include/config.h
@@ -2126,6 +2126,15 @@
 /* Do not try hold I/O pins at frozen level during deep sleep */
 #undef CONFIG_NO_PINHOLD
 
+/*
+ * Since the accelerometers are on the same physical device, they should be
+ * under the same acceleration.  This constant, which mirrors
+ * kNoisyMagnitudeDeviation used in Chromium, is an integer, 1, which defines
+ * the maximum deviation in magnitude between the base and lid vectors.  The
+ * units are in m/s^2.
+ */
+#define CONFIG_NOISY_MAGNITUDE_DEVIATION FLOAT_TO_FP(1)
+
 /* Support one-wire interface */
 #undef CONFIG_ONEWIRE