diff options
| author | Lu Zhang <lu.zhang@bitland.corp-partner.google.com> | 2020-02-28 12:09:58 +0800 |
|---|---|---|
| committer | Commit Bot <commit-bot@chromium.org> | 2020-03-04 03:52:33 +0000 |
| commit | c50e60b416e58281a452de562fb9add0167ea97e (patch) | |
| tree | 4bc87ab4fc0583e94f85de11e9cfa1425f0f7962 | |
| parent | 91b40f83bf2d990b88fbbbebc6f4155a97c9328f (diff) | |
| download | chrome-ec-c50e60b416e58281a452de562fb9add0167ea97e.tar.gz | |
dalboz: fix rotation matrix
The rotation matrix needs be filled out into standard reference frame.
BUG=b:149968926
BRANCH=none
TEST=Using ec console 'accelinfo on' verified lid angle now goes
from 0 to 360 and swtiches to tablet mode after crossing 180
threshold.
Signed-off-by: Lu Zhang <lu.zhang@bitland.corp-partner.google.com>
Change-Id: I349141c6128687b38f375b67086eb5fe611ce1ed
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2078817
Reviewed-by: Edward Hill <ecgh@chromium.org>
Commit-Queue: Edward Hill <ecgh@chromium.org>
| -rw-r--r-- | board/dalboz/board.c | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/board/dalboz/board.c b/board/dalboz/board.c index b813a96bc7..e4397b1522 100644 --- a/board/dalboz/board.c +++ b/board/dalboz/board.c @@ -34,6 +34,13 @@ static struct mutex g_base_mutex; static struct stprivate_data g_lis2dwl_data; static struct lsm6dsm_data g_lsm6dsm_data = LSM6DSM_DATA; +/* Matrix to rotate accelrator into standard reference frame */ +static const mat33_fp_t base_standard_ref = { + { FLOAT_TO_FP(-1), 0, 0}, + { 0, FLOAT_TO_FP(-1), 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + /* TODO(gcc >= 5.0) Remove the casts to const pointer at rot_standard_ref */ struct motion_sensor_t motion_sensors[] = { [LID_ACCEL] = { @@ -78,7 +85,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, .default_range = 4, /* g, enough for laptop */ - .rot_standard_ref = NULL, + .rot_standard_ref = &base_standard_ref, .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, .config = { @@ -110,7 +117,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, .default_range = 1000 | ROUND_UP_FLAG, /* dps */ - .rot_standard_ref = NULL, + .rot_standard_ref = &base_standard_ref, .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, }, |