cyan: fix sensors matrices

Matches definitons set in
chromium/chromeos/accelerometer/accelerometer_types.h.

Using that standard, the coordinate frames of the lid and base DO NOT
line up perfectly when the lid is fully closed or fully open.

Therefore, rotate the lid vector 180 along the X axis before
calculating the lid angle.

BRANCH=cyan
BUG=chrome-os-partner:40177
TEST=When the device is open 180 degrees, check the sensors
agree with each other:
Flat on the back (Z pointing to the sky):
localhost devices # cat */*raw
-1008 [keyboard : X]
-112  [keyboard : Y]
16544 [kyeboard : Z]
-256  [lid : X ]
2000  [lid : Y ]
16336 [lid : Z ]
On the right side (X pointing to the ground)
localhost devices # cat */*raw
-16928
-48
-1040
-16176
432
80
On the bottom edge (Y pointing to the sky)
localhost devices # cat */*raw
-192
15872
1648
496
15936
752
Check the angle as calculated by the EC is correct using accelinfo.

Change-Id: Ib8ee42da8cf818213f892b1f024253f37a4da488
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/294716
Reviewed-by: Jonathan Ross <jonross@chromium.org>
Reviewed-by: Eric Caruso <ejcaruso@chromium.org>

2 files changed, 8 insertions, 4 deletions

diff --git a/board/cyan/board.c b/board/cyan/board.c
index 568c32e765..d77dbeb45c 100644
--- a/board/cyan/board.c
+++ b/board/cyan/board.c
@@ -111,8 +111,8 @@ const matrix_3x3_t base_standard_ref = {
 
 const matrix_3x3_t lid_standard_ref = {
 	{FLOAT_TO_FP(-1),  0,  0},
-	{ 0, FLOAT_TO_FP(-1),  0},
-	{ 0,  0,  FLOAT_TO_FP(1)}
+	{ 0, FLOAT_TO_FP(1),  0},
+	{ 0,  0,  FLOAT_TO_FP(-1)}
 };
 
 struct motion_sensor_t motion_sensors[] = {
diff --git a/common/motion_lid.c b/common/motion_lid.c
index eca904f900..32fea49e18 100644
--- a/common/motion_lid.c
+++ b/common/motion_lid.c
@@ -147,10 +147,14 @@ int motion_lid_get_angle(void)
  */
 void motion_lid_calc(void)
 {
+	/* rotate lid vector by 180 degre to be in the right coordinate frame */
+	vector_3_t lid = { accel_lid->xyz[X],
+			   accel_lid->xyz[Y] * -1,
+			   accel_lid->xyz[Z] * -1};
+
 	/* Calculate angle of lid accel. */
 	lid_angle_is_reliable = calculate_lid_angle(
-			accel_base->xyz,
-			accel_lid->xyz,
+			accel_base->xyz, lid,
 			&lid_angle_deg);
 
 #ifdef CONFIG_LID_ANGLE_UPDATE