diff options
| author | Gwendal Grignou <gwendal@chromium.org> | 2015-07-17 17:59:14 -0700 |
|---|---|---|
| committer | ChromeOS Commit Bot <chromeos-commit-bot@chromium.org> | 2015-07-22 05:02:53 +0000 |
| commit | 57ec5805fe302b8da22e4141a3e5620812fd7663 (patch) | |
| tree | 1ff56501eda99c19f83ea532e0dbef6fb58717f0 /driver | |
| parent | 2302647f574852f3a76813dc8adf2a9dc7d81235 (diff) | |
| download | chrome-ec-57ec5805fe302b8da22e4141a3e5620812fd7663.tar.gz | |
ryu: Fix orientation of accel and compass
Add matrices to align sensors vectors with the device reference.
Move rotation in read routines, to allow fifo to contains processed
information.
BRANCH=smaug
TEST=Worsk on smaug
BUG=chrome-os-partner:39900
Change-Id: I009e7f24ef6ee0574ed664aeb5fd649fcd7039fd
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/286659
Reviewed-by: Alec Berg <alecaberg@chromium.org>
Diffstat (limited to 'driver')
| -rw-r--r-- | driver/accel_kxcj9.c | 2 | ||||
| -rw-r--r-- | driver/accelgyro_bmi160.c | 7 | ||||
| -rw-r--r-- | driver/accelgyro_lsm6ds0.c | 7 |
3 files changed, 10 insertions, 6 deletions
diff --git a/driver/accel_kxcj9.c b/driver/accel_kxcj9.c index 292b43f3fc..cabd7ef589 100644 --- a/driver/accel_kxcj9.c +++ b/driver/accel_kxcj9.c @@ -425,6 +425,8 @@ static int read(const struct motion_sensor_t *s, vector_3_t v) v[i] <<= (16 - resolution); v[i] += (data->offset[i] << 5) / range; } + if (*s->rot_standard_ref != NULL) + rotate(v, *s->rot_standard_ref, v); return EC_SUCCESS; } diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c index 10e4905fa9..e81aa242ee 100644 --- a/driver/accelgyro_bmi160.c +++ b/driver/accelgyro_bmi160.c @@ -508,6 +508,8 @@ void normalize(const struct motion_sensor_t *s, vector_3_t v, uint8_t *data) v[0] = ((int16_t)((data[1] << 8) | data[0])); v[1] = ((int16_t)((data[3] << 8) | data[2])); v[2] = ((int16_t)((data[5] << 8) | data[4])); + if (*s->rot_standard_ref != NULL) + rotate(v, *s->rot_standard_ref, v); } #ifdef CONFIG_ACCEL_INTERRUPTS @@ -776,9 +778,8 @@ static int read(const struct motion_sensor_t *s, vector_3_t v) * to get the latest updated sensor data quickly. */ if (status & BMI160_DRDY_MASK(s->type)) { - v[0] = s->raw_xyz[0]; - v[1] = s->raw_xyz[1]; - v[2] = s->raw_xyz[2]; + if (v != s->raw_xyz) + memcpy(v, s->raw_xyz, sizeof(s->raw_xyz)); return EC_SUCCESS; } diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c index ebd9bd745e..001f7bb5c7 100644 --- a/driver/accelgyro_lsm6ds0.c +++ b/driver/accelgyro_lsm6ds0.c @@ -356,9 +356,8 @@ static int read(const struct motion_sensor_t *s, vector_3_t v) * to get the latest updated sensor data quickly. */ if (!tmp) { - v[0] = s->raw_xyz[0]; - v[1] = s->raw_xyz[1]; - v[2] = s->raw_xyz[2]; + if (v != s->raw_xyz) + memcpy(v, s->raw_xyz, sizeof(s->raw_xyz)); return EC_SUCCESS; } @@ -381,6 +380,8 @@ static int read(const struct motion_sensor_t *s, vector_3_t v) v[i] = ((int16_t)((raw[i * 2 + 1] << 8) | raw[i * 2])); v[i] += (data->offset[i] << 5) / range; } + if (*s->rot_standard_ref != NULL) + rotate(v, *s->rot_standard_ref, v); return EC_SUCCESS; } |