Merge remote-tracking branch cros/main into firmware-fpmcu-dartmonkey-releasefirmware-fpmcu-dartmonkey-release

Generated by: ./util/update_release_branch.py --board dartmonkey --relevant_paths_file
./util/fingerprint-relevant-paths.txt firmware-fpmcu-dartmonkey-release

Relevant changes:

git log --oneline 6c1587ca70..28712dae9d -- board/nocturne_fp
board/dartmonkey common/fpsensor docs/fingerprint driver/fingerprint
util/getversion.sh

ded9307b79 util/getversion.sh: Fix version when not in a git repo
956055e692 board: change Google USB vendor info
71b2ef709d Update license boilerplate text in source code files
33e11afda0 Revert "fpsensor: Build fpsensor source file with C++"
c8d0360723 fpsensor: Build fpsensor source file with C++
bc113abd53 fpsensor: Fix g++ compiler error
150a58a0dc fpsensor: Fix fp_set_sensor_mode return type
b33b5ce85b fpsensor: Remove nested designators for C++ compatibility
2e864b2539 tree-wide: const-ify argv for console commands
56d8b360f9 test: Add test for get ikm failure when seed not set
3a3d6c3690 test: Add test for fpsensor trivial key failure
233e6bbd08 fpsensor_crypto: Abstract calls to hmac_SHA256
0a041b285b docs/fingerprint: Typo correction
c03fab67e2 docs/fingerprint: Fix the path of fputils.py
0b5d4baf5a util/getversion.sh: Fix empty file list handling
6e128fe760 FPMCU dev board environment with Satlab
3eb29b6aa5 builtin: Move ssize_t to sys/types.h
345d62ebd1 docs/fingerprint: Update power numbers for latest dartmonkey release
c25ffdb316 common: Conditionally support printf %l and %i modifiers
9a3c514b45 test: Add a test to check if the debugger is connected
54e603413f Move standard library tests to their own file
43fa6b4bf8 docs/fingerprint: Update power numbers for latest bloonchipper release
25536f9a84 driver/fingerprint/fpc/bep/fpc_sensor_spi.c: Format with clang-format
4face99efd driver/fingerprint/fpc/libfp/fpc_sensor_pal.h: Format with clang-format
738de2b575 trng: Rename rand to trng_rand
14b8270edd docs/fingerprint: Update dragonclaw power numbers
0b268f93d1 driver/fingerprint/fpc/libfp/fpc_private.c: Format with clang-format
f80da163f2 driver/fingerprint/fpc/libfp/fpc_private.h: Format with clang-format
a0751778f4 board/nocturne_fp/ro_workarounds.c: Format with clang-format
5e9c85c9b1 driver/fingerprint/fpc/libfp/fpc_sensor_pal.c: Format with clang-format
c1f9dd3cf8 driver/fingerprint/fpc/libfp/fpc_bio_algorithm.h: Format with clang-format
eb1e1bed8d driver/fingerprint/fpc/libfp/fpc1145_private.h: Format with clang-format
6e7b611821 driver/fingerprint/fpc/bep/fpc_bio_algorithm.h: Format with clang-format
e0589cd5e2 driver/fingerprint/fpc/bep/fpc1035_private.h: Format with clang-format
58f0246dbe board/nocturne_fp/board_ro.c: Format with clang-format
7905e556a0 common/fpsensor/fpsensor_crypto.c: Format with clang-format
21289d170c driver/fingerprint/fpc/bep/fpc1025_private.h: Format with clang-format
98a20f937e common/fpsensor/fpsensor_state.c: Format with clang-format
a2d255d8af common/fpsensor/fpsensor.c: Format with clang-format
84e53a65da board/nocturne_fp/board.h: Format with clang-format
73055eeb3f driver/fingerprint/fpc/bep/fpc_private.c: Format with clang-format
0f7b5cb509 common/fpsensor/fpsensor_private.h: Format with clang-format
1ceade6e65 driver/fingerprint/fpc/bep/fpc_private.h: Format with clang-format
dca9d74321 Revert "trng: Rename rand to trng_rand"
a6b0b3554f trng: Rename rand to trng_rand
28d0b75b70 third_party/boringssl: Remove unused header

BRANCH=None
BUG=b:244387210 b:242720240 b:215613183 b:242720910 b:236386294
BUG=b:234181908 b:244781166 b:234781655 b:234143158 b:234181908
BUG=b:237344361 b:236025198 b:234181908 b:180945056 chromium:1098010
BUG=b:246424843 b:234181908 b:131913998
TEST=`make -j buildall`
TEST=./util/run_device_tests.py --board dartmonkey
     Test "aes": PASSED
     Test "cec": PASSED
     Test "cortexm_fpu": PASSED
     Test "crc": PASSED
     Test "flash_physical": PASSED
     Test "flash_write_protect": PASSED
     Test "fpsensor_hw": PASSED
     Test "fpsensor_spi_ro": PASSED
     Test "fpsensor_spi_rw": PASSED
     Test "fpsensor_uart_ro": PASSED
     Test "fpsensor_uart_rw": PASSED
     Test "mpu_ro": PASSED
     Test "mpu_rw": PASSED
     Test "mutex": PASSED
     Test "pingpong": PASSED
     Test "printf": PASSED
     Test "queue": PASSED
     Test "rollback_region0": PASSED
     Test "rollback_region1": PASSED
     Test "rollback_entropy": PASSED
     Test "rtc": PASSED
     Test "sha256": PASSED
     Test "sha256_unrolled": PASSED
     Test "static_if": PASSED
     Test "stdlib": PASSED
     Test "system_is_locked_wp_on": PASSED
     Test "system_is_locked_wp_off": PASSED
     Test "timer_dos": PASSED
     Test "utils": PASSED
     Test "utils_str": PASSED
     Test "panic_data_dartmonkey_v2.0.2887": PASSED
     Test "panic_data_nocturne_fp_v2.2.64": PASSED
     Test "panic_data_nami_fp_v2.2.144": PASSED
Force-Relevant-Builds: all
Signed-off-by: Tom Hughes <tomhughes@chromium.org>

Change-Id: I2c312583a709fedae8fe11d92c22328c3b634bc7

1 files changed, 97 insertions, 115 deletions

diff --git a/board/poppy/board.c b/board/poppy/board.c
index 3aa99c1161..a69fdd3f16 100644
--- a/board/poppy/board.c
+++ b/board/poppy/board.c
@@ -1,4 +1,4 @@
-/* Copyright 2016 The Chromium OS Authors. All rights reserved.
+/* Copyright 2016 The ChromiumOS Authors
  * Use of this source code is governed by a BSD-style license that can be
  * found in the LICENSE file.
  */
@@ -34,6 +34,7 @@
 #include "math_util.h"
 #include "motion_lid.h"
 #include "motion_sense.h"
+#include "panic.h"
 #include "pi3usb9281.h"
 #include "power.h"
 #include "power_button.h"
@@ -52,10 +53,10 @@
 #include "util.h"
 #include "espi.h"
 
-#define CPRINTS(format, args...) cprints(CC_USBCHARGE, format, ## args)
-#define CPRINTF(format, args...) cprintf(CC_USBCHARGE, format, ## args)
+#define CPRINTS(format, args...) cprints(CC_USBCHARGE, format, ##args)
+#define CPRINTF(format, args...) cprintf(CC_USBCHARGE, format, ##args)
 
-#define USB_PD_PORT_ANX74XX	0
+#define USB_PD_PORT_ANX74XX 0
 
 /* Minimum input current limit. */
 #define ILIM_MIN_MA 472
@@ -80,9 +81,9 @@ static void vbus_discharge_handler(void)
 {
 	if (system_get_board_version() >= 2) {
 		pd_set_vbus_discharge(0,
-				gpio_get_level(GPIO_USB_C0_VBUS_WAKE_L));
+				      gpio_get_level(GPIO_USB_C0_VBUS_WAKE_L));
 		pd_set_vbus_discharge(1,
-				gpio_get_level(GPIO_USB_C1_VBUS_WAKE_L));
+				      gpio_get_level(GPIO_USB_C1_VBUS_WAKE_L));
 	}
 }
 DECLARE_DEFERRED(vbus_discharge_handler);
@@ -154,16 +155,17 @@ const int hibernate_wake_pins_used = ARRAY_SIZE(hibernate_wake_pins);
 /* ADC channels */
 const struct adc_t adc_channels[] = {
 	/* Base detection */
-	[ADC_BASE_DET] = {"BASE_DET", NPCX_ADC_CH0,
-			  ADC_MAX_VOLT, ADC_READ_MAX+1, 0},
+	[ADC_BASE_DET] = { "BASE_DET", NPCX_ADC_CH0, ADC_MAX_VOLT,
+			   ADC_READ_MAX + 1, 0 },
 	/* Vbus sensing (10x voltage divider). */
-	[ADC_VBUS] = {"VBUS", NPCX_ADC_CH2, ADC_MAX_VOLT*10, ADC_READ_MAX+1, 0},
+	[ADC_VBUS] = { "VBUS", NPCX_ADC_CH2, ADC_MAX_VOLT * 10,
+		       ADC_READ_MAX + 1, 0 },
 	/*
 	 * Adapter current output or battery charging/discharging current (uV)
 	 * 18x amplification on charger side.
 	 */
-	[ADC_AMON_BMON] = {"AMON_BMON", NPCX_ADC_CH1, ADC_MAX_VOLT*1000/18,
-			   ADC_READ_MAX+1, 0},
+	[ADC_AMON_BMON] = { "AMON_BMON", NPCX_ADC_CH1, ADC_MAX_VOLT * 1000 / 18,
+			    ADC_READ_MAX + 1, 0 },
 #ifdef BOARD_LUX
 	/*
 	 * ISL9238 PSYS output is 1.44 uA/W over 12.4K resistor, to read
@@ -171,49 +173,39 @@ const struct adc_t adc_channels[] = {
 	 * ADC_READ_MAX+1 as multiplier/divider leads to overflows, so we
 	 * only divide by 2 (enough to avoid precision issues).
 	 */
-	[ADC_PSYS] = {"PSYS", NPCX_ADC_CH3,
-		      ADC_MAX_VOLT*56250*2/(ADC_READ_MAX+1), 2, 0},
+	[ADC_PSYS] = { "PSYS", NPCX_ADC_CH3,
+		       ADC_MAX_VOLT * 56250 * 2 / (ADC_READ_MAX + 1), 2, 0 },
 #endif
 };
 BUILD_ASSERT(ARRAY_SIZE(adc_channels) == ADC_CH_COUNT);
 
 /* I2C port map */
-const struct i2c_port_t i2c_ports[]  = {
-	{
-		.name = "tcpc",
-		.port = NPCX_I2C_PORT0_0,
-		.kbps = 400,
-		.scl  = GPIO_I2C0_0_SCL,
-		.sda  = GPIO_I2C0_0_SDA
-	},
-	{
-		.name = "als",
-		.port = NPCX_I2C_PORT0_1,
-		.kbps = 400,
-		.scl  = GPIO_I2C0_1_SCL,
-		.sda  = GPIO_I2C0_1_SDA
-	},
-	{
-		.name = "charger",
-		.port = NPCX_I2C_PORT1,
-		.kbps = 100,
-		.scl  = GPIO_I2C1_SCL,
-		.sda  = GPIO_I2C1_SDA
-	},
-	{
-		.name = "pmic",
-		.port = NPCX_I2C_PORT2,
-		.kbps = 400,
-		.scl  = GPIO_I2C2_SCL,
-		.sda  = GPIO_I2C2_SDA
-	},
-	{
-		.name = "accelgyro",
-		.port = NPCX_I2C_PORT3,
-		.kbps = 400,
-		.scl  = GPIO_I2C3_SCL,
-		.sda  = GPIO_I2C3_SDA
-	},
+const struct i2c_port_t i2c_ports[] = {
+	{ .name = "tcpc",
+	  .port = NPCX_I2C_PORT0_0,
+	  .kbps = 400,
+	  .scl = GPIO_I2C0_0_SCL,
+	  .sda = GPIO_I2C0_0_SDA },
+	{ .name = "als",
+	  .port = NPCX_I2C_PORT0_1,
+	  .kbps = 400,
+	  .scl = GPIO_I2C0_1_SCL,
+	  .sda = GPIO_I2C0_1_SDA },
+	{ .name = "charger",
+	  .port = NPCX_I2C_PORT1,
+	  .kbps = 100,
+	  .scl = GPIO_I2C1_SCL,
+	  .sda = GPIO_I2C1_SDA },
+	{ .name = "pmic",
+	  .port = NPCX_I2C_PORT2,
+	  .kbps = 400,
+	  .scl = GPIO_I2C2_SCL,
+	  .sda = GPIO_I2C2_SDA },
+	{ .name = "accelgyro",
+	  .port = NPCX_I2C_PORT3,
+	  .kbps = 400,
+	  .scl = GPIO_I2C3_SCL,
+	  .sda = GPIO_I2C3_SDA },
 };
 const unsigned int i2c_ports_used = ARRAY_SIZE(i2c_ports);
 
@@ -237,16 +229,22 @@ const struct tcpc_config_t tcpc_config[CONFIG_USB_PD_PORT_MAX_COUNT] = {
 	},
 };
 
-const struct usb_mux usb_muxes[CONFIG_USB_PD_PORT_MAX_COUNT] = {
+const struct usb_mux_chain usb_muxes[CONFIG_USB_PD_PORT_MAX_COUNT] = {
 	{
-		.usb_port = 0,
-		.driver = &anx74xx_tcpm_usb_mux_driver,
-		.hpd_update = &anx74xx_tcpc_update_hpd_status,
+		.mux =
+			&(const struct usb_mux){
+				.usb_port = 0,
+				.driver = &anx74xx_tcpm_usb_mux_driver,
+				.hpd_update = &anx74xx_tcpc_update_hpd_status,
+			},
 	},
 	{
-		.usb_port = 1,
-		.driver = &tcpci_tcpm_usb_mux_driver,
-		.hpd_update = &ps8xxx_tcpc_update_hpd_status,
+		.mux =
+			&(const struct usb_mux){
+				.usb_port = 1,
+				.driver = &tcpci_tcpm_usb_mux_driver,
+				.hpd_update = &ps8xxx_tcpc_update_hpd_status,
+			},
 	}
 };
 
@@ -271,7 +269,6 @@ const struct charger_config_t chg_chips[] = {
 	},
 };
 
-
 /**
  * Power on (or off) a single TCPC.
  * minimum on/off delays are included.
@@ -349,9 +346,9 @@ void board_tcpc_init(void)
 	 */
 	for (int port = 0; port < CONFIG_USB_PD_PORT_MAX_COUNT; ++port)
 		usb_mux_hpd_update(port, USB_PD_MUX_HPD_LVL_DEASSERTED |
-					 USB_PD_MUX_HPD_IRQ_DEASSERTED);
+						 USB_PD_MUX_HPD_IRQ_DEASSERTED);
 }
-DECLARE_HOOK(HOOK_INIT, board_tcpc_init, HOOK_PRIO_INIT_I2C+1);
+DECLARE_HOOK(HOOK_INIT, board_tcpc_init, HOOK_PRIO_INIT_I2C + 1);
 
 uint16_t tcpc_get_alert_status(void)
 {
@@ -371,17 +368,17 @@ uint16_t tcpc_get_alert_status(void)
 }
 
 const struct temp_sensor_t temp_sensors[] = {
-	{"Battery", TEMP_SENSOR_TYPE_BATTERY, charge_get_battery_temp, 0},
+	{ "Battery", TEMP_SENSOR_TYPE_BATTERY, charge_get_battery_temp, 0 },
 
 	/* These BD99992GW temp sensors are only readable in S0 */
-	{"Ambient", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
-	 BD99992GW_ADC_CHANNEL_SYSTHERM0},
-	{"Charger", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
-	 BD99992GW_ADC_CHANNEL_SYSTHERM1},
-	{"DRAM", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
-	 BD99992GW_ADC_CHANNEL_SYSTHERM2},
-	{"eMMC", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
-	 BD99992GW_ADC_CHANNEL_SYSTHERM3},
+	{ "Ambient", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
+	  BD99992GW_ADC_CHANNEL_SYSTHERM0 },
+	{ "Charger", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
+	  BD99992GW_ADC_CHANNEL_SYSTHERM1 },
+	{ "DRAM", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
+	  BD99992GW_ADC_CHANNEL_SYSTHERM2 },
+	{ "eMMC", TEMP_SENSOR_TYPE_BOARD, bd99992gw_get_val,
+	  BD99992GW_ADC_CHANNEL_SYSTHERM3 },
 };
 BUILD_ASSERT(ARRAY_SIZE(temp_sensors) == TEMP_SENSOR_COUNT);
 
@@ -397,8 +394,8 @@ static void board_report_pmic_fault(const char *str)
 	uint32_t info;
 
 	/* RESETIRQ1 -- Bit 4: VRFAULT */
-	if (i2c_read8(I2C_PORT_PMIC, I2C_ADDR_BD99992_FLAGS, 0x8, &vrfault)
-	    != EC_SUCCESS)
+	if (i2c_read8(I2C_PORT_PMIC, I2C_ADDR_BD99992_FLAGS, 0x8, &vrfault) !=
+	    EC_SUCCESS)
 		return;
 
 	if (!(vrfault & BIT(4)))
@@ -507,8 +504,7 @@ static void board_pmic_enable_slp_s0_vr_decay(void)
 	i2c_write8(I2C_PORT_PMIC, I2C_ADDR_BD99992_FLAGS, 0x38, 0x7a);
 }
 
-__override void power_board_handle_host_sleep_event(
-		enum host_sleep_event state)
+__override void power_board_handle_host_sleep_event(enum host_sleep_event state)
 {
 	if (state == HOST_SLEEP_EVENT_S0IX_SUSPEND)
 		board_pmic_enable_slp_s0_vr_decay();
@@ -561,9 +557,9 @@ static void board_init(void)
 		 * force detection on both ports.
 		 */
 		gpio_set_flags(GPIO_USB_C0_VBUS_WAKE_L,
-			GPIO_INPUT | GPIO_PULL_DOWN);
+			       GPIO_INPUT | GPIO_PULL_DOWN);
 		gpio_set_flags(GPIO_USB_C1_VBUS_WAKE_L,
-			GPIO_INPUT | GPIO_PULL_DOWN);
+			       GPIO_INPUT | GPIO_PULL_DOWN);
 
 		vbus0_evt(GPIO_USB_C0_VBUS_WAKE_L);
 		vbus1_evt(GPIO_USB_C1_VBUS_WAKE_L);
@@ -582,10 +578,9 @@ static void board_init(void)
 	 */
 	if (system_get_board_version() >= 5)
 		gpio_set_flags(GPIO_LED_YELLOW_C0_OLD,
-			GPIO_INPUT | GPIO_PULL_UP);
+			       GPIO_INPUT | GPIO_PULL_UP);
 	else
-		gpio_set_flags(GPIO_LED_YELLOW_C0,
-			GPIO_INPUT | GPIO_PULL_UP);
+		gpio_set_flags(GPIO_LED_YELLOW_C0, GPIO_INPUT | GPIO_PULL_UP);
 
 #ifdef BOARD_SORAKA
 	/*
@@ -594,18 +589,12 @@ static void board_init(void)
 	 * for better S0ix/S3 power
 	 */
 	if (system_get_board_version() >= 4) {
-		gpio_set_flags(GPIO_WLAN_PE_RST,
-			GPIO_INPUT | GPIO_PULL_UP);
-		gpio_set_flags(GPIO_PP3300_DX_LTE,
-			GPIO_INPUT | GPIO_PULL_UP);
-		gpio_set_flags(GPIO_LTE_GPS_OFF_L,
-			GPIO_INPUT | GPIO_PULL_UP);
-		gpio_set_flags(GPIO_LTE_BODY_SAR_L,
-			GPIO_INPUT | GPIO_PULL_UP);
-		gpio_set_flags(GPIO_LTE_WAKE_L,
-			GPIO_INPUT | GPIO_PULL_UP);
-		gpio_set_flags(GPIO_LTE_OFF_ODL,
-			GPIO_INPUT | GPIO_PULL_UP);
+		gpio_set_flags(GPIO_WLAN_PE_RST, GPIO_INPUT | GPIO_PULL_UP);
+		gpio_set_flags(GPIO_PP3300_DX_LTE, GPIO_INPUT | GPIO_PULL_UP);
+		gpio_set_flags(GPIO_LTE_GPS_OFF_L, GPIO_INPUT | GPIO_PULL_UP);
+		gpio_set_flags(GPIO_LTE_BODY_SAR_L, GPIO_INPUT | GPIO_PULL_UP);
+		gpio_set_flags(GPIO_LTE_WAKE_L, GPIO_INPUT | GPIO_PULL_UP);
+		gpio_set_flags(GPIO_LTE_OFF_ODL, GPIO_INPUT | GPIO_PULL_UP);
 	}
 #endif
 
@@ -671,10 +660,12 @@ int board_set_active_charge_port(int charge_port)
 #endif
 		/* Make sure non-charging port is disabled */
 		gpio_set_level(charge_port ? GPIO_USB_C0_CHARGE_L :
-					     GPIO_USB_C1_CHARGE_L, 1);
+					     GPIO_USB_C1_CHARGE_L,
+			       1);
 		/* Enable charging port */
 		gpio_set_level(charge_port ? GPIO_USB_C1_CHARGE_L :
-					     GPIO_USB_C0_CHARGE_L, 0);
+					     GPIO_USB_C0_CHARGE_L,
+			       0);
 	}
 
 	return EC_SUCCESS;
@@ -688,8 +679,8 @@ int board_set_active_charge_port(int charge_port)
  * @param charge_ma     Desired charge limit (mA).
  * @param charge_mv     Negotiated charge voltage (mV).
  */
-void board_set_charge_limit(int port, int supplier, int charge_ma,
-			    int max_ma, int charge_mv)
+void board_set_charge_limit(int port, int supplier, int charge_ma, int max_ma,
+			    int charge_mv)
 {
 	/* Adjust ILIM according to measurements to eliminate overshoot. */
 	charge_ma = (charge_ma - 500) * 31 / 32 + 472;
@@ -706,8 +697,7 @@ void board_hibernate(void)
 	uart_flush_output();
 
 	/* Trigger PMIC shutdown. */
-	if (i2c_write8(I2C_PORT_PMIC, I2C_ADDR_BD99992_FLAGS,
-		       0x49, 0x01)) {
+	if (i2c_write8(I2C_PORT_PMIC, I2C_ADDR_BD99992_FLAGS, 0x49, 0x01)) {
 		/*
 		 * If we can't tell the PMIC to shutdown, instead reset
 		 * and don't start the AP. Hopefully we'll be able to
@@ -763,31 +753,23 @@ static struct opt3001_drv_data_t g_opt3001_data = {
 };
 
 /* Matrix to rotate accelrator into standard reference frame */
-const mat33_fp_t mag_standard_ref = {
-	{ FLOAT_TO_FP(-1), 0, 0},
-	{ 0,  FLOAT_TO_FP(1), 0},
-	{ 0, 0, FLOAT_TO_FP(-1)}
-};
+const mat33_fp_t mag_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 },
+				      { 0, FLOAT_TO_FP(1), 0 },
+				      { 0, 0, FLOAT_TO_FP(-1) } };
 
 #ifdef BOARD_SORAKA
-const mat33_fp_t lid_standard_ref = {
-	{ 0,  FLOAT_TO_FP(-1),  0},
-	{FLOAT_TO_FP(1),  0,  0},
-	{ 0,  0, FLOAT_TO_FP(1)}
-};
+const mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(-1), 0 },
+				      { FLOAT_TO_FP(1), 0, 0 },
+				      { 0, 0, FLOAT_TO_FP(1) } };
 
 /* For rev3 and older */
-const mat33_fp_t lid_standard_ref_old = {
-	{FLOAT_TO_FP(-1),  0,  0},
-	{ 0,  FLOAT_TO_FP(-1),  0},
-	{ 0,  0, FLOAT_TO_FP(1)}
-};
+const mat33_fp_t lid_standard_ref_old = { { FLOAT_TO_FP(-1), 0, 0 },
+					  { 0, FLOAT_TO_FP(-1), 0 },
+					  { 0, 0, FLOAT_TO_FP(1) } };
 #else
-const mat33_fp_t lid_standard_ref = {
-	{FLOAT_TO_FP(-1),  0,  0},
-	{ 0,  FLOAT_TO_FP(-1),  0},
-	{ 0,  0, FLOAT_TO_FP(1)}
-};
+const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 },
+				      { 0, FLOAT_TO_FP(-1), 0 },
+				      { 0, 0, FLOAT_TO_FP(1) } };
 #endif
 
 struct motion_sensor_t motion_sensors[] = {