diff options
Diffstat (limited to 'board/asurada/board.c')
| -rw-r--r-- | board/asurada/board.c | 22 |
1 files changed, 12 insertions, 10 deletions
diff --git a/board/asurada/board.c b/board/asurada/board.c index 52b3a1985f..ac77c9e3cd 100644 --- a/board/asurada/board.c +++ b/board/asurada/board.c @@ -53,6 +53,15 @@ static struct mutex g_lid_mutex; static struct bmi_drv_data_t g_bmi160_data; static struct stprivate_data g_lis2dwl_data; +static struct icm_drv_data_t g_icm426xx_data; + +enum base_accelgyro_type { + BASE_GYRO_NONE = 0, + BASE_GYRO_BMI160 = 1, + BASE_GYRO_ICM426XX = 2, +}; + +static enum base_accelgyro_type base_accelgyro_config; #ifdef BOARD_ASURADA_REV0 /* Matrix to rotate accelerometer into standard reference frame */ @@ -137,6 +146,9 @@ static const mat33_fp_t base_standard_ref = { static void update_rotation_matrix(void) { + if (base_accelgyro_config == BASE_GYRO_ICM426XX) + return; + if (board_get_version() >= 2) { motion_sensors[BASE_ACCEL].rot_standard_ref = &base_standard_ref; @@ -148,16 +160,6 @@ DECLARE_HOOK(HOOK_INIT, update_rotation_matrix, HOOK_PRIO_INIT_ADC + 2); #endif -static struct icm_drv_data_t g_icm426xx_data; - -enum base_accelgyro_type { - BASE_GYRO_NONE = 0, - BASE_GYRO_BMI160 = 1, - BASE_GYRO_ICM426XX = 2, -}; - -static enum base_accelgyro_type base_accelgyro_config; - struct motion_sensor_t icm426xx_base_accel = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, |