diff options
| author | Mathew King <mathewk@chromium.org> | 2020-01-21 13:25:13 -0700 |
|---|---|---|
| committer | Commit Bot <commit-bot@chromium.org> | 2020-01-22 21:04:44 +0000 |
| commit | 15ea40d83fb22bf4655ecb2b2c4fb66bce90cb92 (patch) | |
| tree | 56bbe63047b22e65773b97d95ea4d0303e3ce058 | |
| parent | 0195a23ec69c08bc1ed5adea270776b33b1731bf (diff) | |
| download | chrome-ec-15ea40d83fb22bf4655ecb2b2c4fb66bce90cb92.tar.gz | |
drallion: Set the rotation matrix for base accel
On Drallion the LNG2DM accelerometer is rotated 270 degrees from the
same sensor on Arcada. Change the rotation matrix for the sensor to
account for this difference.
BUG=b:147715895
TEST=run 'ectool --name=cros_ish motionsense' with lid at 180 degrees.
Verify that base and lid are in sync at various rotations.
BRANCH=none
Change-Id: Icc997ae864fb47fef398ca140e96719b39ec054e
Signed-off-by: Mathew King <mathewk@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2013649
Reviewed-by: Jack Rosenthal <jrosenth@chromium.org>
Reviewed-by: Mike Wiitala <mwiitala@google.com>
| -rw-r--r-- | board/drallion_ish/board.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/board/drallion_ish/board.c b/board/drallion_ish/board.c index a36b4e5644..c9a683e36d 100644 --- a/board/drallion_ish/board.c +++ b/board/drallion_ish/board.c @@ -42,6 +42,13 @@ static struct lsm6dsm_data lsm6dsm_a_data = LSM6DSM_DATA; static struct stprivate_data g_lis2dh_data; static struct lis2mdl_private_data lis2mdl_a_data; +/* Matrix to rotate base sensor into standard reference frame */ +const mat33_fp_t base_rot_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + /* Drivers */ struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { @@ -105,7 +112,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_lis2dh_data, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LNG2DM_ADDR0_FLAGS, - .rot_standard_ref = NULL, /* Identity matrix */ + .rot_standard_ref = &base_rot_ref, /* We only use 2g because its resolution is only 8-bits */ .default_range = 2, /* g */ .min_frequency = LIS2DH_ODR_MIN_VAL, |