diff options
| author | Ben Chen <ben.chen2@quanta.corp-partner.google.com> | 2021-01-27 14:21:47 +0800 |
|---|---|---|
| committer | Commit Bot <commit-bot@chromium.org> | 2021-01-28 02:09:32 +0000 |
| commit | f70199129b2a48e0071ac684b2c1a1e321ff43c1 (patch) | |
| tree | 0487cf7ce64f19c44016d44e160a90e2ea68fe1e | |
| parent | b5a0fdab0680fd93b0b7b08a139a5fdcbb679ee6 (diff) | |
| download | chrome-ec-f70199129b2a48e0071ac684b2c1a1e321ff43c1.tar.gz | |
voxel: fix rotation matrix
Fix rotation matrix of base motion sensor
BUG=b:178338414
BRANCH=master
TEST=Using ectool 'motionsense' verified lid angle now goes
from 0 to 360 and swtiches to tablet mode after crossing 200
threshold.
Change-Id: Ica60a90270bddbfad4117ecec422e72502284018
Signed-off-by: Ben Chen <ben.chen2@quanta.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2652109
Reviewed-by: Abe Levkoy <alevkoy@chromium.org>
| -rw-r--r-- | board/voxel/sensors.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/board/voxel/sensors.c b/board/voxel/sensors.c index 93c6f442c9..e95401f359 100644 --- a/board/voxel/sensors.c +++ b/board/voxel/sensors.c @@ -44,8 +44,8 @@ static const mat33_fp_t lid_standard_ref = { }; const mat33_fp_t base_standard_ref = { + { 0, FLOAT_TO_FP(1), 0}, { FLOAT_TO_FP(-1), 0, 0}, - { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} }; @@ -123,7 +123,7 @@ struct motion_sensor_t icm426xx_base_gyro = { .port = I2C_PORT_ACCEL, .i2c_spi_addr_flags = ICM426XX_ADDR0_FLAGS, .default_range = 1000, /* dps */ - .rot_standard_ref = &base_standard_ref, + .rot_standard_ref = &base_icm_ref, .min_frequency = ICM426XX_GYRO_MIN_FREQ, .max_frequency = ICM426XX_GYRO_MAX_FREQ, }; |