diff options
| -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, }, |