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| author | Gwendal Grignou <gwendal@chromium.org> | 2016-11-01 14:02:21 -0700 |
|---|---|---|
| committer | ChromeOS Commit Bot <chromeos-commit-bot@chromium.org> | 2016-11-02 17:10:07 +0000 |
| commit | 980d21a4ae6d550f0e9b8315f3912e6f31126c1d (patch) | |
| tree | d08b5b06b33457c4435ab1370f686949558d2a56 | |
| parent | 447d54e28c42a16a0fa45f72b53bb14b8be69b8d (diff) | |
| download | chrome-ec-980d21a4ae6d550f0e9b8315f3912e6f31126c1d.tar.gz | |
driver: bmi160: Autocalibrate Accelerometer properly.
Take into account the rotation matrix to do calibration.
In particular the Z axis: if board is upside down, we need to use
MINUS_1G instead of PLUS_1G when setting online calibration.
BRANCH=kevin
BUG=none
TEST=Before, calibration would not work on the Z axis.
Change-Id: Ifaec331aac40a4be0e34fcab5dd3752d2d59b91f
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/405854
Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
(cherry picked from commit cd30d638ab60e5d1821e0fff22051f482cf7a5a7)
Reviewed-on: https://chromium-review.googlesource.com/406574
| -rw-r--r-- | driver/accelgyro_bmi160.c | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c index c8a6d18bdf..2b9877a971 100644 --- a/driver/accelgyro_bmi160.c +++ b/driver/accelgyro_bmi160.c @@ -616,9 +616,14 @@ int perform_calib(const struct motion_sensor_t *s) switch (s->type) { case MOTIONSENSE_TYPE_ACCEL: /* We assume the device is laying flat for calibration */ + if (s->rot_standard_ref == NULL || + (*s->rot_standard_ref)[2][2] > INT_TO_FP(0)) + val = BMI160_FOC_ACC_PLUS_1G; + else + val = BMI160_FOC_ACC_MINUS_1G; val = (BMI160_FOC_ACC_0G << BMI160_FOC_ACC_X_OFFSET) | (BMI160_FOC_ACC_0G << BMI160_FOC_ACC_Y_OFFSET) | - (BMI160_FOC_ACC_PLUS_1G << BMI160_FOC_ACC_Z_OFFSET); + (val << BMI160_FOC_ACC_Z_OFFSET); en_flag = BMI160_OFFSET_ACC_EN; break; case MOTIONSENSE_TYPE_GYRO: |