diff options
| author | Koro Chen <koro.chen@mediatek.com> | 2016-05-09 19:48:30 +0800 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2016-05-16 20:58:13 -0700 |
| commit | 73f2b710e1784b2d8bc219105d550c4c8ad55f27 (patch) | |
| tree | 1d500667c7f490904851f0eb13bda583e5640b5f | |
| parent | 238775109520bc685fa982c9155a2a7ef9775a0d (diff) | |
| download | chrome-ec-73f2b710e1784b2d8bc219105d550c4c8ad55f27.tar.gz | |
elm: set up rotation matrices for EVT
Some axes of base and lid accelerometers on EVT needs to be reversed
to match the standard reference frame.
BUG=chrome-os-partner:52776
BRANCH=none
TEST=accelinfo on and check the lidangle reported is correct when I am
changing the lid angle
Change-Id: Id340d28a740d00c7ff4508f5f804fe90fd8ba18c
Signed-off-by: Koro Chen <koro.chen@mediatek.com>
Signed-off-by: Ricky Liang <jcliang@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/343490
| -rw-r--r-- | board/elm/board.c | 15 |
1 files changed, 10 insertions, 5 deletions
diff --git a/board/elm/board.c b/board/elm/board.c index 9394acea09..809680931d 100644 --- a/board/elm/board.c +++ b/board/elm/board.c @@ -411,12 +411,17 @@ DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, board_chipset_suspend, HOOK_PRIO_DEFAULT); /* Mutexes */ static struct mutex g_kx022_mutex[2]; -/* TODO: check if we need this rotation or not */ -/* Matrix to rotate accelrator into standard reference frame */ +/* Matrix to rotate accelerometer into standard reference frame */ const matrix_3x3_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + +const matrix_3x3_t lid_standard_ref = { + { FLOAT_TO_FP(1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, - { 0, 0, FLOAT_TO_FP(1)} + { 0, 0, FLOAT_TO_FP(-1)} }; /* KX022 private data */ @@ -435,7 +440,7 @@ struct motion_sensor_t motion_sensors[] = { .mutex = &g_kx022_mutex[0], .drv_data = &g_kx022_data[0], .addr = 1, /* SPI, device ID 0 */ - .rot_standard_ref = NULL, /* Identity matrix. */ + .rot_standard_ref = &base_standard_ref, .default_range = 2, /* g, enough for laptop. */ .config = { /* AP: by default use EC settings */ @@ -469,7 +474,7 @@ struct motion_sensor_t motion_sensors[] = { .mutex = &g_kx022_mutex[1], .drv_data = &g_kx022_data[1], .addr = 3, /* SPI, device ID 1 */ - .rot_standard_ref = NULL, /* Identity matrix. */ + .rot_standard_ref = &lid_standard_ref, .default_range = 2, /* g, enough for laptop. */ .config = { /* AP: by default use EC settings */ |