diff options
| -rw-r--r-- | board/asurada/board.c | 21 |
1 files changed, 21 insertions, 0 deletions
diff --git a/board/asurada/board.c b/board/asurada/board.c index aa143ce995..1b9e99eeb9 100644 --- a/board/asurada/board.c +++ b/board/asurada/board.c @@ -709,6 +709,27 @@ static struct tcs3400_rgb_drv_data_t g_tcs3400_rgb_data = { }; #endif /* BOARD_ASURADA_REV0 */ +#ifdef BOARD_HAYATO +/* Matrix to rotate accelerometer into standard reference frame */ +/* for Hayato */ +static const mat33_fp_t base_standard_ref = { + {0, FLOAT_TO_FP(1), 0}, + {FLOAT_TO_FP(-1), 0 , 0}, + {0, 0, FLOAT_TO_FP(1)}, +}; + +static void update_rotation_matrix(void) +{ + if (board_get_version() >= 2) { + motion_sensors[BASE_ACCEL].rot_standard_ref = + &base_standard_ref; + motion_sensors[BASE_GYRO].rot_standard_ref = + &base_standard_ref; + } +} +DECLARE_HOOK(HOOK_INIT, update_rotation_matrix, HOOK_PRIO_INIT_ADC + 1); +#endif + struct motion_sensor_t motion_sensors[] = { /* * Note: bmi160: supports accelerometer and gyro sensor |