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authorTino Liu <tino.liu@quanta.corp-partner.google.com>2018-11-28 17:27:59 +0800
committerchrome-bot <chrome-bot@chromium.org>2018-11-29 04:31:52 -0800
commita44c0c1e92b60a992c6b3add46016557d0343ed7 (patch)
treea4b800208e283989cea958af293c095eda8540ec /board/bobba
parentd10bf58755007b01e3c6eb8be2c01f16ef1d11eb (diff)
downloadchrome-ec-a44c0c1e92b60a992c6b3add46016557d0343ed7.tar.gz
Bobba: Correct comments of base rotation reference
This patch just correct comments of base accel/gyro rotation reference for SKU with AR Cam. There is no behavior change. BUG=none BRANCH=none TEST=make buildall pass Change-Id: Ie9a72d7bafa2c225be939a8a55a95ced89680492 Signed-off-by: Tino Liu <tino.liu@quanta.corp-partner.google.com> Reviewed-on: https://chromium-review.googlesource.com/1351927 Tested-by: Jett Rink <jettrink@chromium.org> Reviewed-by: Jett Rink <jettrink@chromium.org>
Diffstat (limited to 'board/bobba')
-rw-r--r--board/bobba/board.c14
1 files changed, 8 insertions, 6 deletions
diff --git a/board/bobba/board.c b/board/bobba/board.c
index 8bd95b5f01..1b6ba2feec 100644
--- a/board/bobba/board.c
+++ b/board/bobba/board.c
@@ -133,13 +133,15 @@ const mat33_fp_t base_standard_ref = {
/*
* Sparky360 SKU ID 26 has AR Cam, and move base accel/gryo to AR Cam board.
- * AR Cam board has about -16° bias with motherboard through Y axis.
- * Rotation matrix with -16° through Y axis:
- * | cos(-16°) 0 sin(-16°)|
- * R = | 0 1 0 |
- * |-sin(-16°) 0 cos(-16°)|
+ * AR Cam board has about 16° bias with motherboard through Y axis.
+ * Rotation matrix with 16° through Y axis:
+ * | cos(16°) 0 sin(16°)| | 0.96126 0 0.27564|
+ * R = | 0 1 0 | = | 0 1 0 |
+ * |-sin(16°) 0 cos(16°)| |-0.27564 0 0.96126|
*
- * base_ar_cam_ref = R * base_standard_ref
+ * |0 -0.96126 0.27564|
+ * base_ar_cam_ref = R * base_standard_ref = |1 0 0 |
+ * |0 0.27564 0.96126|
*/
const mat33_fp_t base_ar_cam_ref = {
{ 0, FLOAT_TO_FP(-0.96126), FLOAT_TO_FP(0.27564)},