diff options
Diffstat (limited to 'board/cherry/board.c')
| -rw-r--r-- | board/cherry/board.c | 47 |
1 files changed, 30 insertions, 17 deletions
diff --git a/board/cherry/board.c b/board/cherry/board.c index 4282aa99b3..e45699704a 100644 --- a/board/cherry/board.c +++ b/board/cherry/board.c @@ -15,7 +15,7 @@ #include "console.h" #include "driver/accel_kionix.h" #include "driver/accel_kx022.h" -#include "driver/accelgyro_icm426xx.h" +#include "driver/accelgyro_icm42607.h" #include "driver/accelgyro_icm_common.h" #include "driver/bc12/mt6360.h" #include "driver/bc12/pi3usb9201.h" @@ -65,9 +65,22 @@ DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT); static struct mutex g_base_mutex; static struct mutex g_lid_mutex; -static struct icm_drv_data_t g_icm426xx_data; +static struct icm_drv_data_t g_icm42607_data; static struct kionix_accel_data g_kx022_data; +/* Matrix to rotate accelrator into standard reference frame */ +static const mat33_fp_t base_standard_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + +static const mat33_fp_t lid_standard_ref = { + { FLOAT_TO_FP(-1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + struct motion_sensor_t motion_sensors[] = { /* * Note: bmi160: supports accelerometer and gyro sensor @@ -77,18 +90,18 @@ struct motion_sensor_t motion_sensors[] = { [BASE_ACCEL] = { .name = "Base Accel", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_ICM426XX, + .chip = MOTIONSENSE_CHIP_ICM42607, .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_BASE, - .drv = &icm426xx_drv, + .drv = &icm42607_drv, .mutex = &g_base_mutex, - .drv_data = &g_icm426xx_data, + .drv_data = &g_icm42607_data, .port = I2C_PORT_ACCEL, - .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS, .default_range = 4, /* g, to meet CDD 7.3.1/C-1-4 reqs.*/ - .rot_standard_ref = NULL, - .min_frequency = ICM426XX_ACCEL_MIN_FREQ, - .max_frequency = ICM426XX_ACCEL_MAX_FREQ, + .rot_standard_ref = &base_standard_ref, + .min_frequency = ICM42607_ACCEL_MIN_FREQ, + .max_frequency = ICM42607_ACCEL_MAX_FREQ, .config = { /* EC use accel for angle detection */ [SENSOR_CONFIG_EC_S0] = { @@ -103,18 +116,18 @@ struct motion_sensor_t motion_sensors[] = { [BASE_GYRO] = { .name = "Base Gyro", .active_mask = SENSOR_ACTIVE_S0_S3, - .chip = MOTIONSENSE_CHIP_ICM426XX, + .chip = MOTIONSENSE_CHIP_ICM42607, .type = MOTIONSENSE_TYPE_GYRO, .location = MOTIONSENSE_LOC_BASE, - .drv = &icm426xx_drv, + .drv = &icm42607_drv, .mutex = &g_base_mutex, - .drv_data = &g_icm426xx_data, + .drv_data = &g_icm42607_data, .port = I2C_PORT_ACCEL, - .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, + .i2c_spi_addr_flags = ICM42607_ADDR0_FLAGS, .default_range = 1000, /* dps */ - .rot_standard_ref = NULL, - .min_frequency = ICM426XX_GYRO_MIN_FREQ, - .max_frequency = ICM426XX_GYRO_MAX_FREQ, + .rot_standard_ref = &base_standard_ref, + .min_frequency = ICM42607_GYRO_MIN_FREQ, + .max_frequency = ICM42607_GYRO_MAX_FREQ, }, [LID_ACCEL] = { .name = "Lid Accel", @@ -127,7 +140,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_kx022_data, .port = I2C_PORT_ACCEL, .i2c_spi_addr_flags = KX022_ADDR1_FLAGS, - .rot_standard_ref = NULL, + .rot_standard_ref = &lid_standard_ref, .default_range = 2, /* g, enough for laptop. */ .min_frequency = KX022_ACCEL_MIN_FREQ, .max_frequency = KX022_ACCEL_MAX_FREQ, |