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| author | James_Chao <james_chao@asus.corp-partner.google.com> | 2019-02-27 17:42:33 +0800 |
|---|---|---|
| committer | Justin TerAvest <teravest@chromium.org> | 2019-02-27 22:24:57 +0000 |
| commit | 0289c0050a8e8993263769fd6bb5ccf2f5c3e3ae (patch) | |
| tree | 70483e6acfa87196f1b8ba9a9af9d8b341719f3e /board/ampton | |
| parent | 123d910ed128f25569ab7e3fb4b886a73026d48f (diff) | |
| download | chrome-ec-0289c0050a8e8993263769fd6bb5ccf2f5c3e3ae.tar.gz | |
Ampton: tune the gyro axis and direction
BUG=b:126135808
BRANCH=octopus
TEST=run the CTS verifier, check the axis and direction is correct
Change-Id: I2b6e598e07a5245b452aff8f46c425b72f30b841
Signed-off-by: James_Chao <james_chao@asus.corp-partner.google.com>
Reviewed-on: https://chromium-review.googlesource.com/c/1490833
Reviewed-by: Justin TerAvest <teravest@chromium.org>
Commit-Queue: ChromeOS CL Exonerator Bot <chromiumos-cl-exonerator@appspot.gserviceaccount.com>
Diffstat (limited to 'board/ampton')
| -rw-r--r-- | board/ampton/board.c | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/board/ampton/board.c b/board/ampton/board.c index d4529af87c..d2746ca980 100644 --- a/board/ampton/board.c +++ b/board/ampton/board.c @@ -150,6 +150,12 @@ const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +const mat33_fp_t gyro_standard_ref = { + { 0, FLOAT_TO_FP(-1), 0}, + { FLOAT_TO_FP(1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} +}; + /* sensor private data */ static struct kionix_accel_data g_kx022_data; static struct bmi160_drv_data_t g_bmi160_data; @@ -220,7 +226,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, .default_range = 1000, /* dps */ - .rot_standard_ref = NULL, /* Identity matrix. */ + .rot_standard_ref = &gyro_standard_ref, .min_frequency = BMI160_GYRO_MIN_FREQ, .max_frequency = BMI160_GYRO_MAX_FREQ, }, |