motion: add config option to use the old accelerometer ref frame

Add config option to use the old accelerometer reference frame,
which is used on samus and products using 3.14 or earlier kernel.

This fixes samus so that the lid angle calculation is correct
again.

This also moves the accel_orientation structure out of the board
directory and into common code, since it purely is a function of
the reference frame being used.

BUG=chrome-os-partner:43494
BRANCH=none
TEST=test on samus, verify lid angle calculation is correct once
again. also, enable the motion_lid test and verify that it passes.

Change-Id: I948a74a71964b54c68be66e828a030ddd0418947
Signed-off-by: Alec Berg <alecaberg@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/300510
Tested-by: Aseda Aboagye <aaboagye@chromium.org>
Reviewed-by: Gwendal Grignou <gwendal@chromium.org>

2 files changed, 55 insertions, 5 deletions

diff --git a/common/motion_lid.c b/common/motion_lid.c
index 32fea49e18..a563b1019b 100644
--- a/common/motion_lid.c
+++ b/common/motion_lid.c
@@ -38,6 +38,42 @@ static int lid_angle_is_reliable;
  */
 #define HINGE_ALIGNED_WITH_GRAVITY_THRESHOLD FLOAT_TO_FP(0.96593)
 
+/*
+ * Define the accelerometer orientation matrices based on the standard
+ * reference frame in use (note: accel data is converted to standard ref
+ * frame before calculating lid angle).
+ */
+#ifdef CONFIG_ACCEL_STD_REF_FRAME_OLD
+const struct accel_orientation acc_orient = {
+	/* Hinge aligns with y axis. */
+	.rot_hinge_90 = {
+		{ 0,  0,  FLOAT_TO_FP(1)},
+		{ 0,  FLOAT_TO_FP(1),  0},
+		{ FLOAT_TO_FP(-1), 0,  0}
+	},
+	.rot_hinge_180 = {
+		{ FLOAT_TO_FP(-1), 0,  0},
+		{ 0,  FLOAT_TO_FP(1),  0},
+		{ 0,  0, FLOAT_TO_FP(-1)}
+	},
+	.hinge_axis = {0, 1, 0},
+};
+#else
+const struct accel_orientation acc_orient = {
+	/* Hinge aligns with x axis. */
+	.rot_hinge_90 = {
+		{ FLOAT_TO_FP(1),  0,  0},
+		{ 0,  0,  FLOAT_TO_FP(1)},
+		{ 0, FLOAT_TO_FP(-1),  0}
+	},
+	.rot_hinge_180 = {
+		{ FLOAT_TO_FP(1),  0,  0},
+		{ 0, FLOAT_TO_FP(-1),  0},
+		{ 0,  0, FLOAT_TO_FP(-1)}
+	},
+	.hinge_axis = {1, 0, 0},
+};
+#endif
 
 /* Pointer to constant acceleration orientation data. */
 const struct accel_orientation * const p_acc_orient = &acc_orient;
@@ -147,15 +183,25 @@ int motion_lid_get_angle(void)
  */
 void motion_lid_calc(void)
 {
-	/* rotate lid vector by 180 degre to be in the right coordinate frame */
+#ifndef CONFIG_ACCEL_STD_REF_FRAME_OLD
+	/*
+	 * rotate lid vector by 180 deg to be in the right coordinate frame
+	 * because calculate_lid_angle assumes when the lid is closed, that
+	 * the lid and base accelerometer data matches
+	 */
 	vector_3_t lid = { accel_lid->xyz[X],
 			   accel_lid->xyz[Y] * -1,
 			   accel_lid->xyz[Z] * -1};
-
 	/* Calculate angle of lid accel. */
 	lid_angle_is_reliable = calculate_lid_angle(
 			accel_base->xyz, lid,
 			&lid_angle_deg);
+#else
+	/* Calculate angle of lid accel. */
+	lid_angle_is_reliable = calculate_lid_angle(
+			accel_base->xyz, accel_lid->xyz,
+			&lid_angle_deg);
+#endif
 
 #ifdef CONFIG_LID_ANGLE_UPDATE
 	lid_angle_update(motion_lid_get_angle());
diff --git a/common/motion_sense.c b/common/motion_sense.c
index bea0bef1cf..9add2d1712 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -41,6 +41,10 @@ static int accel_disp;
 
 #define SENSOR_ACTIVE(_sensor) (sensor_active & (_sensor)->active_mask)
 
+#if defined(CONFIG_LPC) || defined(TEST_MOTION_LID)
+#define UPDATE_HOST_MEM_MAP
+#endif
+
 /*
  * Mutex to protect sensor values between host command task and
  * motion sense task:
@@ -388,7 +392,7 @@ static inline void set_present(uint8_t *lpc_status)
 	*lpc_status |= EC_MEMMAP_ACC_STATUS_PRESENCE_BIT;
 }
 
-#ifdef CONFIG_LPC
+#ifdef UPDATE_HOST_MEM_MAP
 /* Update/Write LPC data */
 static inline void update_sense_data(uint8_t *lpc_status,
 		uint16_t *lpc_data, int *psample_id)
@@ -526,7 +530,7 @@ void motion_sense_task(void)
 #ifdef CONFIG_ACCEL_FIFO
 	timestamp_t ts_last_int;
 #endif
-#ifdef CONFIG_LPC
+#ifdef UPDATE_HOST_MEM_MAP
 	int sample_id = 0;
 	uint8_t *lpc_status;
 	uint16_t *lpc_data;
@@ -591,7 +595,7 @@ void motion_sense_task(void)
 			CPRINTF("]\n");
 		}
 #endif
-#ifdef CONFIG_LPC
+#ifdef UPDATE_HOST_MEM_MAP
 		update_sense_data(lpc_status, lpc_data, &sample_id);
 #endif