diff options
| author | James_Chao <james_chao@asus.corp-partner.google.com> | 2018-11-20 19:15:00 +0800 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2018-11-21 01:25:28 -0800 |
| commit | f9c82a8456e975bec8ee255bfba9e49821dd96c9 (patch) | |
| tree | 71fdc18219de43799a7090dbe1736c6e1568c6f2 | |
| parent | 90f4c546b39336986686a620e43c2f66aab8d6b9 (diff) | |
| download | chrome-ec-f9c82a8456e975bec8ee255bfba9e49821dd96c9.tar.gz | |
Ampton: Correct accel sensor base reference dependent on sensor location
BUG=b:118756407
BRANCH=none
TEST=accelinfo on
Change-Id: I3e9f1791a12e5cb63572b1d50435b4e7a42b7ccd
Signed-off-by: James_Chao <james_chao@asus.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/1343641
Commit-Ready: James Chao <james_chao@asus.corp-partner.google.com>
Tested-by: James Chao <james_chao@asus.corp-partner.google.com>
Reviewed-by: James Chao <james_chao@asus.corp-partner.google.com>
Reviewed-by: Diana Z <dzigterman@chromium.org>
| -rw-r--r-- | board/ampton/board.c | 14 |
1 files changed, 6 insertions, 8 deletions
diff --git a/board/ampton/board.c b/board/ampton/board.c index d57f051f90..b2cfa271f3 100644 --- a/board/ampton/board.c +++ b/board/ampton/board.c @@ -119,12 +119,10 @@ BUILD_ASSERT(ARRAY_SIZE(temp_sensors) == TEMP_SENSOR_COUNT); static struct mutex g_lid_mutex; static struct mutex g_base_mutex; -/* Matrix to rotate accelrator into standard reference frame */ -/* TODO(b/118756407): Ampton/Apel: tune motion sensors */ -const mat33_fp_t base_standard_ref = { +const mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, - { FLOAT_TO_FP(1), 0, 0}, - { 0, 0, FLOAT_TO_FP(1)} + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} }; /* sensor private data */ @@ -144,7 +142,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_kx022_data, .port = I2C_PORT_SENSOR, .addr = KX022_ADDR1, - .rot_standard_ref = NULL, /* Identity matrix. */ + .rot_standard_ref = &lid_standard_ref, .default_range = 4, /* g */ .config = { /* EC use accel for angle detection */ @@ -168,7 +166,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_bmi160_data, .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, - .rot_standard_ref = &base_standard_ref, + .rot_standard_ref = NULL, /* Identity matrix. */ .default_range = 4, /* g */ .min_frequency = BMI160_ACCEL_MIN_FREQ, .max_frequency = BMI160_ACCEL_MAX_FREQ, @@ -197,7 +195,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, .default_range = 1000, /* dps */ - .rot_standard_ref = &base_standard_ref, + .rot_standard_ref = NULL, /* Identity matrix. */ .min_frequency = BMI160_GYRO_MIN_FREQ, .max_frequency = BMI160_GYRO_MAX_FREQ, }, |