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| author | Jonathan Brandmeyer <jbrandmeyer@chromium.org> | 2018-07-30 13:16:46 -0600 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2018-07-31 16:37:04 -0700 |
| commit | 160748e02929a4fc2142b84dcd91031690420b15 (patch) | |
| tree | 211476ba7044985a918123f4b47c3caa23573f9d /board/careena | |
| parent | 9b4909334c5b2531e9dd08d81ca00f51ddd1a906 (diff) | |
| download | chrome-ec-160748e02929a4fc2142b84dcd91031690420b15.tar.gz | |
careena: Correct baseboard IMU orientation.
The Careena baseboard IMU principle axes are rotated relative to the
Grunt reference design for manufacturability. Also, refactor
common/spi_flash_reg.c to avoid a name collision with axis definitions
in math_util.
BRANCH=none
BUG=b:111983307
TEST=make -j buldall; Observe `accelread 1` output with the base in
orientations: flat, perturbed by rotation about +y, and perturbed by
rotation about +x.
Signed-off-by: Jonathan Brandmeyer <jbrandmeyer@chromium.org>
Change-Id: Ib85d657ef47a89aaa63134b2bdf43920caf6c06e
Reviewed-on: https://chromium-review.googlesource.com/1155628
Commit-Ready: Jonathan Brandmeyer <jbrandmeyer@chromium.org>
Tested-by: Jonathan Brandmeyer <jbrandmeyer@chromium.org>
Reviewed-by: Edward Hill <ecgh@chromium.org>
Diffstat (limited to 'board/careena')
| -rw-r--r-- | board/careena/board.c | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/board/careena/board.c b/board/careena/board.c index afa9c18637..1bae162930 100644 --- a/board/careena/board.c +++ b/board/careena/board.c @@ -124,6 +124,13 @@ BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT); static void board_init(void) { + /* + * Careena's baseboard is rotated 180 degrees about the +y axis relative + * to the Grunt reference design. + */ + grunt_base_standard_ref[0][0] = FLOAT_TO_FP(-1); + grunt_base_standard_ref[2][2] = FLOAT_TO_FP(-1); + /* Enable Gyro interrupts */ gpio_enable_interrupt(GPIO_6AXIS_INT_L); } |