diff options
| -rw-r--r-- | board/nautilus/board.h | 10 | ||||
| -rw-r--r-- | common/motion_lid.c | 20 | ||||
| -rw-r--r-- | include/config.h | 9 |
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 |