diff options
| author | Ko_Ko <Ko_Ko@compal.corp-partner.google.com> | 2020-09-15 13:53:03 +0800 |
|---|---|---|
| committer | Commit Bot <commit-bot@chromium.org> | 2020-09-18 05:28:16 +0000 |
| commit | 6d06a136a9185ec7582bdb380d92e911db01a079 (patch) | |
| tree | 66c6b26b61f21a3a8e9c4ae34bf72f1579dcf7e3 | |
| parent | da34f6f3e53ae59c3a2edc9faeb7a9e68b95f0b5 (diff) | |
| download | chrome-ec-6d06a136a9185ec7582bdb380d92e911db01a079.tar.gz | |
Madoo: Add rotation matrices for sensors
This commit adds the needed rotation matrices for the sensors to place
the measurements into the standard reference frame.
BUG=b:167940144
BRANCH=none
TEST=Build and flash madoo. Compare accel readings against
released chromebooks and verify that they match in orientation and
sign.
Signed-off-by: Ko_Ko <Ko_Ko@compal.corp-partner.google.com>
Change-Id: I2579f3e1eeb301815e8759621dea228fa888b361
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2409719
Reviewed-by: Diana Z <dzigterman@chromium.org>
Commit-Queue: Ko Ko <ko_ko@compal.corp-partner.google.com>
Tested-by: Ko Ko <ko_ko@compal.corp-partner.google.com>
| -rw-r--r-- | board/madoo/board.c | 14 |
1 files changed, 10 insertions, 4 deletions
diff --git a/board/madoo/board.c b/board/madoo/board.c index e53c7e10d4..a181908d83 100644 --- a/board/madoo/board.c +++ b/board/madoo/board.c @@ -291,8 +291,14 @@ static struct mutex g_base_mutex; /* Matrices to rotate accelerometers into the standard reference. */ static const mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, - { FLOAT_TO_FP(-1), 0, 0}, - { 0, 0, FLOAT_TO_FP(1)} + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + +static const mat33_fp_t base_standard_ref = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)}, + { 0, FLOAT_TO_FP(1), 0}, }; static struct accelgyro_saved_data_t g_bma253_data; @@ -337,7 +343,7 @@ struct motion_sensor_t motion_sensors[] = { .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, - .rot_standard_ref = NULL, + .rot_standard_ref = &base_standard_ref, .default_range = 4, /* g */ .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, @@ -367,7 +373,7 @@ 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, }, |