[common]: Remove accelerator calibration code.

This code is used to find the orientation of the sensor.
Given sensor are aligned with the edges of the device,
it is not too dificult to find manually.

BRANCH=ToT
BUG=None
TEST=Check ACCEL_CALIBRATE is not used anymore.
Check 'make buildall -j' works.

Change-Id: I81ffcb4f6b01c530ef16baf13113a5942f615092
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/219527
Reviewed-by: Alec Berg <alecaberg@chromium.org>

10 files changed, 3 insertions, 591 deletions

diff --git a/board/host/board.c b/board/host/board.c
index 8c70053ac2..c43a36ae8b 100644
--- a/board/host/board.c
+++ b/board/host/board.c
@@ -53,10 +53,7 @@ BUILD_ASSERT(ARRAY_SIZE(buttons) == CONFIG_BUTTON_COUNT);
 #endif
 
 /* Define the accelerometer orientation matrices. */
-#ifndef CONFIG_ACCEL_CALIBRATE
-const
-#endif
-struct accel_orientation acc_orient = {
+const struct accel_orientation acc_orient = {
 	/* Lid and base sensor are already aligned. */
 	.rot_align = {
 		{ 1,  0,  0},
diff --git a/board/host/board.h b/board/host/board.h
index 19890b6504..3c11f58b8f 100644
--- a/board/host/board.h
+++ b/board/host/board.h
@@ -9,7 +9,6 @@
 #define __BOARD_H
 
 /* Optional features */
-#undef CONFIG_ACCEL_CALIBRATE
 #define CONFIG_EXTPOWER_GPIO
 #undef CONFIG_FMAP
 #define CONFIG_POWER_BUTTON
diff --git a/board/samus/board.c b/board/samus/board.c
index a75682ad29..d6b77430d6 100644
--- a/board/samus/board.c
+++ b/board/samus/board.c
@@ -268,10 +268,7 @@ struct motion_sensor_t motion_sensors[] = {
 const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
 
 /* Define the accelerometer orientation matrices. */
-#ifndef CONFIG_ACCEL_CALIBRATE
-const
-#endif
-struct accel_orientation acc_orient = {
+const struct accel_orientation acc_orient = {
 	/* Lid and base sensor are already aligned. */
 	.rot_align = {
 		{ 0, -1,  0},
diff --git a/common/build.mk b/common/build.mk
index 79a8f3c235..cf76e5a0a7 100644
--- a/common/build.mk
+++ b/common/build.mk
@@ -9,7 +9,6 @@
 common-y=util.o
 common-y+=version.o printf.o queue.o
 
-common-$(CONFIG_ACCEL_CALIBRATE)+=motion_calibrate.o
 common-$(CONFIG_ADC)+=adc.o
 common-$(CONFIG_ALS)+=als.o
 common-$(CONFIG_AP_HANG_DETECT)+=ap_hang_detect.o
diff --git a/common/math_util.c b/common/math_util.c
index 56acec16dc..83bfc6cdfb 100644
--- a/common/math_util.c
+++ b/common/math_util.c
@@ -110,95 +110,3 @@ void rotate(const vector_3_t v, const matrix_3x3_t R,
 			t[2] * R[2][2];
 }
 
-#ifdef CONFIG_ACCEL_CALIBRATE
-
-void matrix_multiply(matrix_3x3_t *m1, matrix_3x3_t *m2, matrix_3x3_t *res)
-{
-	(*res)[0][0] = (*m1)[0][0] * (*m2)[0][0] + (*m1)[0][1] * (*m2)[1][0] +
-			(*m1)[0][2] * (*m2)[2][0];
-	(*res)[0][1] = (*m1)[0][0] * (*m2)[0][1] + (*m1)[0][1] * (*m2)[1][1] +
-				(*m1)[0][2] * (*m2)[2][1];
-	(*res)[0][2] = (*m1)[0][0] * (*m2)[0][2] + (*m1)[0][1] * (*m2)[1][2] +
-				(*m1)[0][2] * (*m2)[2][2];
-
-	(*res)[1][0] = (*m1)[1][0] * (*m2)[0][0] + (*m1)[1][1] * (*m2)[1][0] +
-				(*m1)[1][2] * (*m2)[2][0];
-	(*res)[1][1] = (*m1)[1][0] * (*m2)[0][1] + (*m1)[1][1] * (*m2)[1][1] +
-				(*m1)[1][2] * (*m2)[2][1];
-	(*res)[1][2] = (*m1)[1][0] * (*m2)[0][2] + (*m1)[1][1] * (*m2)[1][2] +
-				(*m1)[1][2] * (*m2)[2][2];
-
-	(*res)[2][0] = (*m1)[2][0] * (*m2)[0][0] + (*m1)[2][1] * (*m2)[1][0] +
-				(*m1)[2][2] * (*m2)[2][0];
-	(*res)[2][1] = (*m1)[2][0] * (*m2)[0][1] + (*m1)[2][1] * (*m2)[1][1] +
-				(*m1)[2][2] * (*m2)[2][1];
-	(*res)[2][2] = (*m1)[2][0] * (*m2)[0][2] + (*m1)[2][1] * (*m2)[1][2] +
-				(*m1)[2][2] * (*m2)[2][2];
-}
-
-/**
- * Find determinant of matrix.
- *
- * @param m Pointer to matrix to take determinant of.
- *
- * @return Determinant of matrix m.
- */
-static float matrix_determinant(matrix_3x3_t *m)
-{
-		return  (*m)[0][0]*(*m)[1][1]*(*m)[2][2] +
-			(*m)[1][0]*(*m)[2][1]*(*m)[0][2] +
-			(*m)[2][0]*(*m)[0][1]*(*m)[1][2] -
-			(*m)[0][0]*(*m)[2][1]*(*m)[1][2] -
-			(*m)[2][0]*(*m)[1][1]*(*m)[0][2] -
-			(*m)[1][0]*(*m)[0][1]*(*m)[2][2];
-}
-
-/**
- * Find inverse of matrix.
- *
- * @param m Pointer to matrix to invert.
- * @param res Pointer to resultant matrix.
- */
-static int matrix_inverse(matrix_3x3_t *m, matrix_3x3_t *res)
-{
-	float det = matrix_determinant(m);
-
-	/*
-	 * If determinant is too close to zero, then input is not linearly
-	 * independent enough, return an error.
-	 */
-	if (ABS(det) < 1e7)
-		return EC_ERROR_UNKNOWN;
-
-	/* Find inverse of input matrix. */
-	(*res)[0][0] = ((*m)[1][1]*(*m)[2][2] - (*m)[1][2]*(*m)[2][1]) / det;
-	(*res)[0][1] = ((*m)[0][2]*(*m)[2][1] - (*m)[0][1]*(*m)[2][2]) / det;
-	(*res)[0][2] = ((*m)[0][1]*(*m)[1][2] - (*m)[0][2]*(*m)[1][1]) / det;
-
-	(*res)[1][0] = ((*m)[1][2]*(*m)[2][0] - (*m)[1][0]*(*m)[2][2]) / det;
-	(*res)[1][1] = ((*m)[0][0]*(*m)[2][2] - (*m)[0][2]*(*m)[2][0]) / det;
-	(*res)[1][2] = ((*m)[0][2]*(*m)[1][0] - (*m)[0][0]*(*m)[1][2]) / det;
-
-	(*res)[2][0] = ((*m)[1][0]*(*m)[2][1] - (*m)[1][1]*(*m)[2][0]) / det;
-	(*res)[2][1] = ((*m)[0][1]*(*m)[2][0] - (*m)[0][0]*(*m)[2][1]) / det;
-	(*res)[2][2] = ((*m)[0][0]*(*m)[1][1] - (*m)[0][1]*(*m)[1][0]) / det;
-
-	return EC_SUCCESS;
-}
-
-int solve_rotation_matrix(matrix_3x3_t *in, matrix_3x3_t *out, matrix_3x3_t *R)
-{
-	static matrix_3x3_t i;
-	int ret;
-
-	/* Calculate inverse of input matrix. */
-	ret = matrix_inverse(in, &i);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	/* Multiply inverse of in matrix by out matrix and store into R. */
-	matrix_multiply(&i, out, R);
-
-	return EC_SUCCESS;
-}
-#endif /* CONFIG_ACCEL_CALIBRATE */
diff --git a/common/motion_calibrate.c b/common/motion_calibrate.c
deleted file mode 100644
index 3103a5fc3c..0000000000
--- a/common/motion_calibrate.c
+++ /dev/null
@@ -1,381 +0,0 @@
-/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved.
- * Use of this source code is governed by a BSD-style license that can be
- * found in the LICENSE file.
- */
-
-/* Motion sensor calibration code. */
-
-#include "common.h"
-#include "console.h"
-#include "math_util.h"
-#include "motion_sense.h"
-#include "accelgyro.h"
-#include "timer.h"
-#include "task.h"
-#include "uart.h"
-#include "util.h"
-
-/*
- * Threshold to capture a sample when performing auto-calibrate. The units are
- * the same as the units of the accelerometer acceleration values.
- */
-#define AUTO_CAL_DIR_THRESHOLD (ACCEL_G * 3 / 4)
-#define AUTO_CAL_MAG_THRESHOLD (ACCEL_G / 20)
-
-/*
- * Solution to standard reference frame calibration equation. Note, this matrix
- * depends on the exact instructions regarding the orientation given to the user
- * for calibrating the standard reference frame.
- */
-static matrix_3x3_t standard_ref_calib = {
-	{ 1024,  0,  0},
-	{ 0, -1024,  0},
-	{ 0,  0,  1024}
-};
-
-/*****************************************************************************/
-/* Console commands */
-
-/**
- * Print all orientation calibration data.
- */
-static int command_print_orientation(int argc, char **argv)
-{
-	matrix_3x3_t (*R);
-
-	R = &acc_orient.rot_align;
-	ccprintf("Lid to base alignment R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d"
-			"\n%.2d\t%.2d\t%.2d\n\n",
-	(int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100),
-	(int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100),
-	(int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100));
-
-	R = &acc_orient.rot_hinge_90;
-	ccprintf("Hinge rotation 90 R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d\n"
-			"%.2d\t%.2d\t%.2d\n\n",
-	(int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100),
-	(int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100),
-	(int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100));
-
-	R = &acc_orient.rot_hinge_180;
-	ccprintf("Hinge rotation 180 R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d\n"
-			"%.2d\t%.2d\t%.2d\n\n",
-	(int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100),
-	(int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100),
-	(int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100));
-
-	R = &acc_orient.rot_standard_ref;
-	ccprintf("Standard ref frame R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d\n"
-			"%.2d\t%.2d\t%.2d\n\n",
-	(int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100),
-	(int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100),
-	(int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100));
-
-	ccprintf("Hinge Axis:\t%d\t%d\t%d\n", acc_orient.hinge_axis[0],
-			acc_orient.hinge_axis[1],
-			acc_orient.hinge_axis[2]);
-
-	return EC_SUCCESS;
-}
-DECLARE_CONSOLE_COMMAND(accelorient, command_print_orientation,
-	"",
-	"Print all orientation calibration data", NULL);
-
-/**
- * Calibrate the orientation and print results to console.
- *
- * @param type	0 is for calibrating lid to base alignment,
- *		1 is for calibrating hinge 90 rotation
- */
-static int calibrate_orientation(int type)
-{
-	int mag, ret, i, j;
-
-	/* Captured flags. Set true when the corresponding axis is captured. */
-	int captured[3] = {0, 0, 0};
-
-	/* Current acceleration vectors. */
-	vector_3_t base, lid;
-
-	static matrix_3x3_t rec_base, rec_lid;
-
-	while (1) {
-		/* Capture the current acceleration vectors. */
-		motion_get_accel_lid(&lid, type);
-		motion_get_accel_base(&base);
-
-		/* Measure magnitude of base accelerometer. */
-		mag = vector_magnitude(base);
-
-		/*
-		 * Only capture a sample if the magnitude of the acceleration
-		 * is close to G, because this assures we won't calibrate with
-		 * values biased by motion.
-		 */
-		if ((mag > ACCEL_G - AUTO_CAL_MAG_THRESHOLD) &&
-			(mag < ACCEL_G + AUTO_CAL_MAG_THRESHOLD)) {
-
-			/*
-			 * Capture a sample when each axis exceeds some
-			 * threshold. This guarantees linear independence.
-			 */
-			for (i = 0; i < 3; i++) {
-				if (!captured[i] &&
-					ABS(base[i]) > AUTO_CAL_DIR_THRESHOLD) {
-
-					for (j = 0; j < 3; j++) {
-						rec_base[i][j] = (float)base[j];
-						rec_lid[i][j] = (float)lid[j];
-					}
-					ccprintf("Captured axis %d\n", i);
-					captured[i] = 1;
-				}
-			}
-
-			/* If all axes are captured, we are done. */
-			if (captured[0] && captured[1] && captured[2])
-				break;
-		}
-
-		/* Wait until next reading. */
-		task_wait_event(50 * MSEC);
-	}
-
-	/* Solve for the rotation matrix and display final rotation matrix. */
-	if (type == 0)
-		ret = solve_rotation_matrix(&rec_lid, &rec_base,
-					&acc_orient.rot_align);
-	else
-		ret = solve_rotation_matrix(&rec_base, &rec_lid,
-					&acc_orient.rot_hinge_90);
-
-	if (ret != EC_SUCCESS)
-		ccprintf("Failed to find rotation matrix.\n");
-
-	return ret;
-}
-
-/**
- * Calibrate the hinge axis and hinge 180 rotation matrix.
- */
-static int calibrate_hinge(void)
-{
-	static matrix_3x3_t tmp;
-	float d;
-	int i, j;
-	vector_3_t base;
-
-	motion_get_accel_base(&base);
-	memcpy(&acc_orient.hinge_axis, &base, sizeof(vector_3_t));
-
-	/*
-	 * Calculate a rotation matrix to rotate 180 degrees about hinge axis.
-	 * The formula is:
-	 *
-	 * rot_hinge_180 = I + 2 * tmp^2 / d^2,
-	 * where tmp is a matrix formed from the hinge axis, d is the sqrt
-	 * of the hinge axis vector used in tmp, and I is the 3x3 identity
-	 * matrix.
-	 *
-	 */
-	tmp[0][0] = 0;
-	tmp[0][1] = base[2];
-	tmp[0][2] = -base[1];
-	tmp[1][0] = -base[2];
-	tmp[1][1] = 0;
-	tmp[1][2] = base[0];
-	tmp[2][0] = base[1];
-	tmp[2][1] = -base[0];
-	tmp[2][2] = 0;
-
-	matrix_multiply(&tmp, &tmp, &acc_orient.rot_hinge_180);
-	d = (float)(SQ(base[0]) + SQ(base[1]) + SQ(base[2]));
-
-	for (i = 0; i < 3; i++) {
-		for (j = 0; j < 3; j++) {
-			acc_orient.rot_hinge_180[i][j] *= 2.0F / d;
-
-			/* Add identity matrix. */
-			if (i == j)
-				acc_orient.rot_hinge_180[i][j] += 1;
-		}
-	}
-
-	return EC_SUCCESS;
-}
-
-/**
- * Calibrate the standard reference frame.
- */
-static int calibrate_standard_frame(vector_3_t *v_x, vector_3_t *v_y,
-		vector_3_t *v_z)
-{
-	static matrix_3x3_t m;
-	int j;
-
-	for (j = 0; j < 3; j++) {
-		m[0][j] = (*v_x)[j];
-		m[1][j] = (*v_y)[j];
-		m[2][j] = (*v_z)[j];
-	}
-
-	return solve_rotation_matrix(&m, &standard_ref_calib,
-						&acc_orient.rot_standard_ref);
-}
-
-/**
- * Wait until a specific set of keys is pressed: enter, 'q', or 's'. Return
- * key that was pressed.
- */
-static int wait_for_key(void)
-{
-	int c = uart_getc();
-
-	/* Loop until previous character was a new line char, 'q', or 's'. */
-	while (c != '\r' && c != '\n' && c != 'q' && c != 's') {
-		task_wait_event(50 * MSEC);
-		c = uart_getc();
-	}
-
-	return c;
-}
-
-static int command_auto_calibrate(int argc, char **argv)
-{
-	int c;
-	vector_3_t v_x, v_y, v_z;
-
-	if (argc > 1)
-		return EC_ERROR_PARAM_COUNT;
-
-	ccprintf("Calibrating... press 'q' at any time to quit, and 's' "
-			"to skip step.\n");
-
-	/*
-	 * Part 1: Calibrate the lid to base alignment rotation matrix.
-	 */
-	ccprintf("\nStep 1: close lid, press enter, and rotate the machine\n"
-		"in space until all 3 directions are captured.\n");
-
-	/* Wait for user to press enter, quit, or skip. */
-	c = wait_for_key();
-	if (c == 'q') {
-		ccprintf("Calibration exited.\n");
-		return EC_SUCCESS;
-	}
-
-	/* If step is not skipped, perform calibration. */
-	if (c != 's') {
-		if (calibrate_orientation(0) != EC_SUCCESS) {
-			ccprintf("Calibration error.\n");
-			return EC_SUCCESS;
-		}
-	}
-
-	/*
-	 * Part 2: Calibrate the hinge 90 rotation matrix.
-	 */
-	ccprintf("\nStep 2: open lid to 90 degrees, press enter, and rotate\n"
-		"in space until all 3 directions are captured.\n");
-
-
-	/* Wait for user to press enter, quit, or skip. */
-	c = wait_for_key();
-	if (c == 'q') {
-		ccprintf("Calibration exited.\n");
-		return EC_SUCCESS;
-	}
-
-	/* If step is not skipped, perform calibration. */
-	if (c != 's') {
-		if (calibrate_orientation(1) != EC_SUCCESS) {
-			ccprintf("Calibration error.\n");
-			return EC_SUCCESS;
-		}
-	}
-
-	/*
-	 * Part 3: Calibrate the hinge axis and hinge 180 rotation matrix.
-	 */
-	ccprintf("\nStep 3: align hinge with gravity, and press enter.\n");
-
-	/* Wait for user to press enter, quit, or skip. */
-	c = wait_for_key();
-	if (c == 'q') {
-		ccprintf("Calibration exited.\n");
-		return EC_SUCCESS;
-	}
-
-	/* If step is not skipped, perform calibration. */
-	if (c != 's') {
-		if (calibrate_hinge() != EC_SUCCESS) {
-			ccprintf("Calibration error.\n");
-			return EC_SUCCESS;
-		}
-	}
-
-	/*
-	 * Part 4: Calibrate the standard reference frame rotation matrix.
-	 */
-	ccprintf("\nStep 4a: place machine on right side, with hinge\n"
-		"aligned with gravity, and press enter.\n");
-
-	/* Wait for user to press enter, quit, or skip. */
-	c = wait_for_key();
-	if (c == 'q') {
-		ccprintf("Calibration exited.\n");
-		return EC_SUCCESS;
-	}
-
-	if (c == 's')
-		goto auto_calib_done;
-
-	/* In this orientation, the Y axis should be highest. Capture data. */
-	motion_get_accel_base(&v_y);
-
-	ccprintf("\nStep 4b: place machine flat on table, with keyboard\n"
-		"up, and press enter.\n");
-
-	/* Wait for user to press enter, quit, or skip. */
-	c = wait_for_key();
-	if (c == 'q') {
-		ccprintf("Calibration exited.\n");
-		return EC_SUCCESS;
-	}
-
-	if (c == 's')
-		goto auto_calib_done;
-
-	/* In this orientation, the Z axis should be highest. Capture data. */
-	motion_get_accel_base(&v_z);
-
-	ccprintf("\nStep 4c: hold machine perpendicular to table with\n"
-		"the hinge up, and press enter.\n");
-
-	/* Wait for user to press enter, quit, or skip. */
-	c = wait_for_key();
-	if (c == 'q') {
-		ccprintf("Calibration exited.\n");
-		return EC_SUCCESS;
-	}
-
-	if (c == 's')
-		goto auto_calib_done;
-
-	/* In this orientation, the X axis should be highest. Capture data. */
-	motion_get_accel_base(&v_x);
-
-	if (calibrate_standard_frame(&v_x, &v_y, &v_z) != EC_SUCCESS) {
-		ccprintf("Calibration error.\n");
-		return EC_SUCCESS;
-	}
-
-auto_calib_done:
-	/* Print results of all calibration. */
-	command_print_orientation(0, NULL);
-
-	return EC_SUCCESS;
-}
-DECLARE_CONSOLE_COMMAND(accelcalib, command_auto_calibrate,
-	"",
-	"Auto calibrate the accelerometers", NULL);
diff --git a/common/motion_sense.c b/common/motion_sense.c
index 62be9ad181..f157838f12 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -156,43 +156,6 @@ int motion_get_lid_angle(void)
 		return (int)LID_ANGLE_UNRELIABLE;
 }
 
-#ifdef CONFIG_ACCEL_CALIBRATE
-void motion_get_accel_lid(vector_3_t *v, int adjusted)
-{
-	int i;
-	struct motion_sensor_t *sensor;
-	struct motion_sensor_t *accel_lid = NULL;
-	for (i = 0; i < motion_sensor_count; ++i) {
-		sensor = &motion_sensors[i];
-		if ((LOCATION_LID == sensor->location)
-			&& (SENSOR_ACCELEROMETER == sensor->type)) {
-			accel_lid = sensor;
-			break;
-		}
-	}
-	if (accel_lid)
-		memcpy(v, (adjusted ? accel_lid->xyz : accel_lid->raw_xyz),
-			 sizeof(vector_3_t));
-}
-
-void motion_get_accel_base(vector_3_t *v)
-{
-	int i;
-	struct motion_sensor_t *sensor;
-	struct motion_sensor_t *accel_base = NULL;
-	for (i = 0; i < motion_sensor_count; ++i) {
-		sensor = &motion_sensors[i];
-		if ((LOCATION_BASE == sensor->location)
-			&& (SENSOR_ACCELEROMETER == sensor->type)) {
-			accel_base = sensor;
-			break;
-		}
-	}
-	if (accel_base)
-		memcpy(v, accel_base->xyz, sizeof(vector_3_t));
-}
-#endif
-
 static void clock_chipset_shutdown(void)
 {
 	int i;
diff --git a/include/config.h b/include/config.h
index bf2c76618d..cbc460408a 100644
--- a/include/config.h
+++ b/include/config.h
@@ -36,9 +36,6 @@
  * BOARD_*, CHIP_*, and CHIP_FAMILY_*.
  */
 
-/* Enable EC console functions for calibrating accelerometers. */
-#undef CONFIG_ACCEL_CALIBRATE
-
 /* Enable accelerometer interrupts. */
 #undef CONFIG_ACCEL_INTERRUPTS
 
@@ -1170,10 +1167,6 @@
 #undef CONFIG_KEYBOARD_PROTOCOL_MKBP
 #endif
 
-#ifndef HAS_TASK_MOTIONSENSE
-#undef CONFIG_ACCEL_CALIBRATE
-#endif
-
 /*****************************************************************************/
 /*
  * Apply test config overrides last, since tests need to override some of the
diff --git a/include/math_util.h b/include/math_util.h
index 1dc92c4999..044c411b23 100644
--- a/include/math_util.h
+++ b/include/math_util.h
@@ -47,47 +47,5 @@ void rotate(const vector_3_t v, const matrix_3x3_t R,
 		vector_3_t res);
 
 
-#ifdef CONFIG_ACCEL_CALIBRATE
-
-/**
- * Multiply two 3x3 matrices.
- *
- * @param m1
- * @param m2
- * @param res Pointer to resultant matrix R = a1*a2;
- */
-void matrix_multiply(matrix_3x3_t *m1, matrix_3x3_t *m2, matrix_3x3_t *res);
-
-/**
- * Given an input matrix and an output matrix, solve for the rotation
- * matrix to get from the input matrix to the output matrix. Note, that this
- * operation is not guaranteed. In order to successfully calculate the rotation
- * matrix, the input must be linearly independent so that the matrix can be
- * inverted.
- *
- * This function solves the following matrix equation for R:
- * in * R = out
- *
- * If input matrix is invertible the resulting rotation matrix is stored in R.
- *
- * @param in
- * @param out
- * @param R Pointer to resultant matrix.
- *
- * @return EC_SUCCESS if successful
- */
-int solve_rotation_matrix(matrix_3x3_t *in, matrix_3x3_t *out, matrix_3x3_t *R);
-
-/**
- * Calculate magnitude of a vector.
- *
- * @param v Vector to be measured.
- *
- * @return Magnitued of vector v.
- */
-int vector_magnitude(const vector_3_t v);
-
-#endif
-
 
 #endif /* __CROS_MATH_UTIL_H */
diff --git a/include/motion_sense.h b/include/motion_sense.h
index 4991fcaba4..c08083be8c 100644
--- a/include/motion_sense.h
+++ b/include/motion_sense.h
@@ -45,11 +45,7 @@ struct accel_orientation {
 };
 
 /* Link global structure for orientation. This must be defined in board.c. */
-extern
-#ifndef CONFIG_ACCEL_CALIBRATE
-const
-#endif
-struct accel_orientation acc_orient;
+extern const struct accel_orientation acc_orient;
 
 
 /**
@@ -61,23 +57,6 @@ struct accel_orientation acc_orient;
 int motion_get_lid_angle(void);
 
 
-#ifdef CONFIG_ACCEL_CALIBRATE
-/**
- * Get the last measured lid acceleration vector.
- *
- * @param v Pointer to location to store vector.
- * @param adjusted If false use the raw vector, if true use the adjusted vector.
- */
-void motion_get_accel_lid(vector_3_t *v, int adjusted);
-
-/**
- * Get the last measured base acceleration vector.
- *
- * @param v Pointer to location to store vector.
- */
-void motion_get_accel_base(vector_3_t *v);
-#endif
-
 /**
  * Interrupt function for lid accelerometer.
  *