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authorChing-Kang Yen <chingkang@chromium.org>2020-01-16 16:11:40 +0800
committerCommit Bot <commit-bot@chromium.org>2020-01-31 03:14:22 +0000
commit036e9f7b214b763524497550aae0ee94df8fd536 (patch)
tree8bc2e0a15268dcd8a8ed8ef03af7c716d46e8d0a /driver/accelgyro_bmi160.c
parent876de6a603072fe121afe99fbda5d4f0e9efd266 (diff)
downloadchrome-ec-036e9f7b214b763524497550aae0ee94df8fd536.tar.gz
driver: bmi160: Fix rounding error in set_offset() and get_offset()
The original set_offset() and get_offset() codes in the driver/accelgyro_bmi160 use simple divisions to write the data. The more times the set_offset() and get_offset() is used, the data will get closer to 0. Fixing it by replacing simple division to round_divide(), division that round to nearest, in the common/math_util.c. BRANCH=octopus BUG=b:146823505 TEST=Testing on octopus:ampton on branch [firmware-octopus-11297.B]. Checking the data did not rounding to 0. Change-Id: Ide9df9e32fc501e63d6f952cb8254df7662afd23 Signed-off-by: Ching-Kang Yen <chingkang@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2002998 Reviewed-by: Gwendal Grignou <gwendal@chromium.org> Commit-Queue: Gwendal Grignou <gwendal@chromium.org>
Diffstat (limited to 'driver/accelgyro_bmi160.c')
-rw-r--r--driver/accelgyro_bmi160.c21
1 files changed, 13 insertions, 8 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index 9f043ce862..2c29295988 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -506,8 +506,10 @@ static int get_offset(const struct motion_sensor_t *s,
BMI160_OFFSET_ACC70 + i, &val);
if (val > 0x7f)
val = -256 + val;
- v[i] = val * BMI160_OFFSET_ACC_MULTI_MG /
- BMI160_OFFSET_ACC_DIV_MG;
+ v[i] = round_divide(
+ (int64_t)val * BMI160_OFFSET_ACC_MULTI_MG,
+ BMI160_OFFSET_ACC_DIV_MG);
+
}
break;
case MOTIONSENSE_TYPE_GYRO:
@@ -526,8 +528,9 @@ static int get_offset(const struct motion_sensor_t *s,
val |= ((val98 >> (2 * i)) & 0x3) << 8;
if (val > 0x1ff)
val = -1024 + val;
- v[i] = val * BMI160_OFFSET_GYRO_MULTI_MDS /
- BMI160_OFFSET_GYRO_DIV_MDS;
+ v[i] = round_divide(
+ (int64_t)val * BMI160_OFFSET_GYRO_MULTI_MDS,
+ BMI160_OFFSET_GYRO_DIV_MDS);
}
break;
#ifdef CONFIG_MAG_BMI160_BMM150
@@ -565,8 +568,9 @@ static int set_offset(const struct motion_sensor_t *s,
switch (s->type) {
case MOTIONSENSE_TYPE_ACCEL:
for (i = X; i <= Z; i++) {
- val = v[i] * BMI160_OFFSET_ACC_DIV_MG /
- BMI160_OFFSET_ACC_MULTI_MG;
+ val = round_divide(
+ (int64_t)v[i] * BMI160_OFFSET_ACC_DIV_MG,
+ BMI160_OFFSET_ACC_MULTI_MG);
if (val > 127)
val = 127;
if (val < -128)
@@ -582,8 +586,9 @@ static int set_offset(const struct motion_sensor_t *s,
break;
case MOTIONSENSE_TYPE_GYRO:
for (i = X; i <= Z; i++) {
- val = v[i] * BMI160_OFFSET_GYRO_DIV_MDS /
- BMI160_OFFSET_GYRO_MULTI_MDS;
+ val = round_divide(
+ (int64_t)v[i] * BMI160_OFFSET_GYRO_DIV_MDS,
+ BMI160_OFFSET_GYRO_MULTI_MDS);
if (val > 511)
val = 511;
if (val < -512)