diff options
| -rw-r--r-- | board/host/board.c | 5 | ||||
| -rw-r--r-- | board/host/board.h | 1 | ||||
| -rw-r--r-- | board/samus/board.c | 5 | ||||
| -rw-r--r-- | common/build.mk | 1 | ||||
| -rw-r--r-- | common/math_util.c | 92 | ||||
| -rw-r--r-- | common/motion_calibrate.c | 381 | ||||
| -rw-r--r-- | common/motion_sense.c | 37 | ||||
| -rw-r--r-- | include/config.h | 7 | ||||
| -rw-r--r-- | include/math_util.h | 42 | ||||
| -rw-r--r-- | include/motion_sense.h | 23 |
10 files changed, 3 insertions, 591 deletions
diff --git a/board/host/board.c b/board/host/board.c index 8c70053ac2..c43a36ae8b 100644 --- a/board/host/board.c +++ b/board/host/board.c @@ -53,10 +53,7 @@ BUILD_ASSERT(ARRAY_SIZE(buttons) == CONFIG_BUTTON_COUNT); #endif /* Define the accelerometer orientation matrices. */ -#ifndef CONFIG_ACCEL_CALIBRATE -const -#endif -struct accel_orientation acc_orient = { +const struct accel_orientation acc_orient = { /* Lid and base sensor are already aligned. */ .rot_align = { { 1, 0, 0}, diff --git a/board/host/board.h b/board/host/board.h index 19890b6504..3c11f58b8f 100644 --- a/board/host/board.h +++ b/board/host/board.h @@ -9,7 +9,6 @@ #define __BOARD_H /* Optional features */ -#undef CONFIG_ACCEL_CALIBRATE #define CONFIG_EXTPOWER_GPIO #undef CONFIG_FMAP #define CONFIG_POWER_BUTTON diff --git a/board/samus/board.c b/board/samus/board.c index a75682ad29..d6b77430d6 100644 --- a/board/samus/board.c +++ b/board/samus/board.c @@ -268,10 +268,7 @@ struct motion_sensor_t motion_sensors[] = { const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors); /* Define the accelerometer orientation matrices. */ -#ifndef CONFIG_ACCEL_CALIBRATE -const -#endif -struct accel_orientation acc_orient = { +const struct accel_orientation acc_orient = { /* Lid and base sensor are already aligned. */ .rot_align = { { 0, -1, 0}, diff --git a/common/build.mk b/common/build.mk index 79a8f3c235..cf76e5a0a7 100644 --- a/common/build.mk +++ b/common/build.mk @@ -9,7 +9,6 @@ common-y=util.o common-y+=version.o printf.o queue.o -common-$(CONFIG_ACCEL_CALIBRATE)+=motion_calibrate.o common-$(CONFIG_ADC)+=adc.o common-$(CONFIG_ALS)+=als.o common-$(CONFIG_AP_HANG_DETECT)+=ap_hang_detect.o diff --git a/common/math_util.c b/common/math_util.c index 56acec16dc..83bfc6cdfb 100644 --- a/common/math_util.c +++ b/common/math_util.c @@ -110,95 +110,3 @@ void rotate(const vector_3_t v, const matrix_3x3_t R, t[2] * R[2][2]; } -#ifdef CONFIG_ACCEL_CALIBRATE - -void matrix_multiply(matrix_3x3_t *m1, matrix_3x3_t *m2, matrix_3x3_t *res) -{ - (*res)[0][0] = (*m1)[0][0] * (*m2)[0][0] + (*m1)[0][1] * (*m2)[1][0] + - (*m1)[0][2] * (*m2)[2][0]; - (*res)[0][1] = (*m1)[0][0] * (*m2)[0][1] + (*m1)[0][1] * (*m2)[1][1] + - (*m1)[0][2] * (*m2)[2][1]; - (*res)[0][2] = (*m1)[0][0] * (*m2)[0][2] + (*m1)[0][1] * (*m2)[1][2] + - (*m1)[0][2] * (*m2)[2][2]; - - (*res)[1][0] = (*m1)[1][0] * (*m2)[0][0] + (*m1)[1][1] * (*m2)[1][0] + - (*m1)[1][2] * (*m2)[2][0]; - (*res)[1][1] = (*m1)[1][0] * (*m2)[0][1] + (*m1)[1][1] * (*m2)[1][1] + - (*m1)[1][2] * (*m2)[2][1]; - (*res)[1][2] = (*m1)[1][0] * (*m2)[0][2] + (*m1)[1][1] * (*m2)[1][2] + - (*m1)[1][2] * (*m2)[2][2]; - - (*res)[2][0] = (*m1)[2][0] * (*m2)[0][0] + (*m1)[2][1] * (*m2)[1][0] + - (*m1)[2][2] * (*m2)[2][0]; - (*res)[2][1] = (*m1)[2][0] * (*m2)[0][1] + (*m1)[2][1] * (*m2)[1][1] + - (*m1)[2][2] * (*m2)[2][1]; - (*res)[2][2] = (*m1)[2][0] * (*m2)[0][2] + (*m1)[2][1] * (*m2)[1][2] + - (*m1)[2][2] * (*m2)[2][2]; -} - -/** - * Find determinant of matrix. - * - * @param m Pointer to matrix to take determinant of. - * - * @return Determinant of matrix m. - */ -static float matrix_determinant(matrix_3x3_t *m) -{ - return (*m)[0][0]*(*m)[1][1]*(*m)[2][2] + - (*m)[1][0]*(*m)[2][1]*(*m)[0][2] + - (*m)[2][0]*(*m)[0][1]*(*m)[1][2] - - (*m)[0][0]*(*m)[2][1]*(*m)[1][2] - - (*m)[2][0]*(*m)[1][1]*(*m)[0][2] - - (*m)[1][0]*(*m)[0][1]*(*m)[2][2]; -} - -/** - * Find inverse of matrix. - * - * @param m Pointer to matrix to invert. - * @param res Pointer to resultant matrix. - */ -static int matrix_inverse(matrix_3x3_t *m, matrix_3x3_t *res) -{ - float det = matrix_determinant(m); - - /* - * If determinant is too close to zero, then input is not linearly - * independent enough, return an error. - */ - if (ABS(det) < 1e7) - return EC_ERROR_UNKNOWN; - - /* Find inverse of input matrix. */ - (*res)[0][0] = ((*m)[1][1]*(*m)[2][2] - (*m)[1][2]*(*m)[2][1]) / det; - (*res)[0][1] = ((*m)[0][2]*(*m)[2][1] - (*m)[0][1]*(*m)[2][2]) / det; - (*res)[0][2] = ((*m)[0][1]*(*m)[1][2] - (*m)[0][2]*(*m)[1][1]) / det; - - (*res)[1][0] = ((*m)[1][2]*(*m)[2][0] - (*m)[1][0]*(*m)[2][2]) / det; - (*res)[1][1] = ((*m)[0][0]*(*m)[2][2] - (*m)[0][2]*(*m)[2][0]) / det; - (*res)[1][2] = ((*m)[0][2]*(*m)[1][0] - (*m)[0][0]*(*m)[1][2]) / det; - - (*res)[2][0] = ((*m)[1][0]*(*m)[2][1] - (*m)[1][1]*(*m)[2][0]) / det; - (*res)[2][1] = ((*m)[0][1]*(*m)[2][0] - (*m)[0][0]*(*m)[2][1]) / det; - (*res)[2][2] = ((*m)[0][0]*(*m)[1][1] - (*m)[0][1]*(*m)[1][0]) / det; - - return EC_SUCCESS; -} - -int solve_rotation_matrix(matrix_3x3_t *in, matrix_3x3_t *out, matrix_3x3_t *R) -{ - static matrix_3x3_t i; - int ret; - - /* Calculate inverse of input matrix. */ - ret = matrix_inverse(in, &i); - if (ret != EC_SUCCESS) - return ret; - - /* Multiply inverse of in matrix by out matrix and store into R. */ - matrix_multiply(&i, out, R); - - return EC_SUCCESS; -} -#endif /* CONFIG_ACCEL_CALIBRATE */ diff --git a/common/motion_calibrate.c b/common/motion_calibrate.c deleted file mode 100644 index 3103a5fc3c..0000000000 --- a/common/motion_calibrate.c +++ /dev/null @@ -1,381 +0,0 @@ -/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved. - * Use of this source code is governed by a BSD-style license that can be - * found in the LICENSE file. - */ - -/* Motion sensor calibration code. */ - -#include "common.h" -#include "console.h" -#include "math_util.h" -#include "motion_sense.h" -#include "accelgyro.h" -#include "timer.h" -#include "task.h" -#include "uart.h" -#include "util.h" - -/* - * Threshold to capture a sample when performing auto-calibrate. The units are - * the same as the units of the accelerometer acceleration values. - */ -#define AUTO_CAL_DIR_THRESHOLD (ACCEL_G * 3 / 4) -#define AUTO_CAL_MAG_THRESHOLD (ACCEL_G / 20) - -/* - * Solution to standard reference frame calibration equation. Note, this matrix - * depends on the exact instructions regarding the orientation given to the user - * for calibrating the standard reference frame. - */ -static matrix_3x3_t standard_ref_calib = { - { 1024, 0, 0}, - { 0, -1024, 0}, - { 0, 0, 1024} -}; - -/*****************************************************************************/ -/* Console commands */ - -/** - * Print all orientation calibration data. - */ -static int command_print_orientation(int argc, char **argv) -{ - matrix_3x3_t (*R); - - R = &acc_orient.rot_align; - ccprintf("Lid to base alignment R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d" - "\n%.2d\t%.2d\t%.2d\n\n", - (int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100), - (int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100), - (int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100)); - - R = &acc_orient.rot_hinge_90; - ccprintf("Hinge rotation 90 R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d\n" - "%.2d\t%.2d\t%.2d\n\n", - (int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100), - (int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100), - (int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100)); - - R = &acc_orient.rot_hinge_180; - ccprintf("Hinge rotation 180 R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d\n" - "%.2d\t%.2d\t%.2d\n\n", - (int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100), - (int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100), - (int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100)); - - R = &acc_orient.rot_standard_ref; - ccprintf("Standard ref frame R:\n%.2d\t%.2d\t%.2d\n%.2d\t%.2d\t%.2d\n" - "%.2d\t%.2d\t%.2d\n\n", - (int)((*R)[0][0]*100), (int)((*R)[0][1]*100), (int)((*R)[0][2]*100), - (int)((*R)[1][0]*100), (int)((*R)[1][1]*100), (int)((*R)[1][2]*100), - (int)((*R)[2][0]*100), (int)((*R)[2][1]*100), (int)((*R)[2][2]*100)); - - ccprintf("Hinge Axis:\t%d\t%d\t%d\n", acc_orient.hinge_axis[0], - acc_orient.hinge_axis[1], - acc_orient.hinge_axis[2]); - - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelorient, command_print_orientation, - "", - "Print all orientation calibration data", NULL); - -/** - * Calibrate the orientation and print results to console. - * - * @param type 0 is for calibrating lid to base alignment, - * 1 is for calibrating hinge 90 rotation - */ -static int calibrate_orientation(int type) -{ - int mag, ret, i, j; - - /* Captured flags. Set true when the corresponding axis is captured. */ - int captured[3] = {0, 0, 0}; - - /* Current acceleration vectors. */ - vector_3_t base, lid; - - static matrix_3x3_t rec_base, rec_lid; - - while (1) { - /* Capture the current acceleration vectors. */ - motion_get_accel_lid(&lid, type); - motion_get_accel_base(&base); - - /* Measure magnitude of base accelerometer. */ - mag = vector_magnitude(base); - - /* - * Only capture a sample if the magnitude of the acceleration - * is close to G, because this assures we won't calibrate with - * values biased by motion. - */ - if ((mag > ACCEL_G - AUTO_CAL_MAG_THRESHOLD) && - (mag < ACCEL_G + AUTO_CAL_MAG_THRESHOLD)) { - - /* - * Capture a sample when each axis exceeds some - * threshold. This guarantees linear independence. - */ - for (i = 0; i < 3; i++) { - if (!captured[i] && - ABS(base[i]) > AUTO_CAL_DIR_THRESHOLD) { - - for (j = 0; j < 3; j++) { - rec_base[i][j] = (float)base[j]; - rec_lid[i][j] = (float)lid[j]; - } - ccprintf("Captured axis %d\n", i); - captured[i] = 1; - } - } - - /* If all axes are captured, we are done. */ - if (captured[0] && captured[1] && captured[2]) - break; - } - - /* Wait until next reading. */ - task_wait_event(50 * MSEC); - } - - /* Solve for the rotation matrix and display final rotation matrix. */ - if (type == 0) - ret = solve_rotation_matrix(&rec_lid, &rec_base, - &acc_orient.rot_align); - else - ret = solve_rotation_matrix(&rec_base, &rec_lid, - &acc_orient.rot_hinge_90); - - if (ret != EC_SUCCESS) - ccprintf("Failed to find rotation matrix.\n"); - - return ret; -} - -/** - * Calibrate the hinge axis and hinge 180 rotation matrix. - */ -static int calibrate_hinge(void) -{ - static matrix_3x3_t tmp; - float d; - int i, j; - vector_3_t base; - - motion_get_accel_base(&base); - memcpy(&acc_orient.hinge_axis, &base, sizeof(vector_3_t)); - - /* - * Calculate a rotation matrix to rotate 180 degrees about hinge axis. - * The formula is: - * - * rot_hinge_180 = I + 2 * tmp^2 / d^2, - * where tmp is a matrix formed from the hinge axis, d is the sqrt - * of the hinge axis vector used in tmp, and I is the 3x3 identity - * matrix. - * - */ - tmp[0][0] = 0; - tmp[0][1] = base[2]; - tmp[0][2] = -base[1]; - tmp[1][0] = -base[2]; - tmp[1][1] = 0; - tmp[1][2] = base[0]; - tmp[2][0] = base[1]; - tmp[2][1] = -base[0]; - tmp[2][2] = 0; - - matrix_multiply(&tmp, &tmp, &acc_orient.rot_hinge_180); - d = (float)(SQ(base[0]) + SQ(base[1]) + SQ(base[2])); - - for (i = 0; i < 3; i++) { - for (j = 0; j < 3; j++) { - acc_orient.rot_hinge_180[i][j] *= 2.0F / d; - - /* Add identity matrix. */ - if (i == j) - acc_orient.rot_hinge_180[i][j] += 1; - } - } - - return EC_SUCCESS; -} - -/** - * Calibrate the standard reference frame. - */ -static int calibrate_standard_frame(vector_3_t *v_x, vector_3_t *v_y, - vector_3_t *v_z) -{ - static matrix_3x3_t m; - int j; - - for (j = 0; j < 3; j++) { - m[0][j] = (*v_x)[j]; - m[1][j] = (*v_y)[j]; - m[2][j] = (*v_z)[j]; - } - - return solve_rotation_matrix(&m, &standard_ref_calib, - &acc_orient.rot_standard_ref); -} - -/** - * Wait until a specific set of keys is pressed: enter, 'q', or 's'. Return - * key that was pressed. - */ -static int wait_for_key(void) -{ - int c = uart_getc(); - - /* Loop until previous character was a new line char, 'q', or 's'. */ - while (c != '\r' && c != '\n' && c != 'q' && c != 's') { - task_wait_event(50 * MSEC); - c = uart_getc(); - } - - return c; -} - -static int command_auto_calibrate(int argc, char **argv) -{ - int c; - vector_3_t v_x, v_y, v_z; - - if (argc > 1) - return EC_ERROR_PARAM_COUNT; - - ccprintf("Calibrating... press 'q' at any time to quit, and 's' " - "to skip step.\n"); - - /* - * Part 1: Calibrate the lid to base alignment rotation matrix. - */ - ccprintf("\nStep 1: close lid, press enter, and rotate the machine\n" - "in space until all 3 directions are captured.\n"); - - /* Wait for user to press enter, quit, or skip. */ - c = wait_for_key(); - if (c == 'q') { - ccprintf("Calibration exited.\n"); - return EC_SUCCESS; - } - - /* If step is not skipped, perform calibration. */ - if (c != 's') { - if (calibrate_orientation(0) != EC_SUCCESS) { - ccprintf("Calibration error.\n"); - return EC_SUCCESS; - } - } - - /* - * Part 2: Calibrate the hinge 90 rotation matrix. - */ - ccprintf("\nStep 2: open lid to 90 degrees, press enter, and rotate\n" - "in space until all 3 directions are captured.\n"); - - - /* Wait for user to press enter, quit, or skip. */ - c = wait_for_key(); - if (c == 'q') { - ccprintf("Calibration exited.\n"); - return EC_SUCCESS; - } - - /* If step is not skipped, perform calibration. */ - if (c != 's') { - if (calibrate_orientation(1) != EC_SUCCESS) { - ccprintf("Calibration error.\n"); - return EC_SUCCESS; - } - } - - /* - * Part 3: Calibrate the hinge axis and hinge 180 rotation matrix. - */ - ccprintf("\nStep 3: align hinge with gravity, and press enter.\n"); - - /* Wait for user to press enter, quit, or skip. */ - c = wait_for_key(); - if (c == 'q') { - ccprintf("Calibration exited.\n"); - return EC_SUCCESS; - } - - /* If step is not skipped, perform calibration. */ - if (c != 's') { - if (calibrate_hinge() != EC_SUCCESS) { - ccprintf("Calibration error.\n"); - return EC_SUCCESS; - } - } - - /* - * Part 4: Calibrate the standard reference frame rotation matrix. - */ - ccprintf("\nStep 4a: place machine on right side, with hinge\n" - "aligned with gravity, and press enter.\n"); - - /* Wait for user to press enter, quit, or skip. */ - c = wait_for_key(); - if (c == 'q') { - ccprintf("Calibration exited.\n"); - return EC_SUCCESS; - } - - if (c == 's') - goto auto_calib_done; - - /* In this orientation, the Y axis should be highest. Capture data. */ - motion_get_accel_base(&v_y); - - ccprintf("\nStep 4b: place machine flat on table, with keyboard\n" - "up, and press enter.\n"); - - /* Wait for user to press enter, quit, or skip. */ - c = wait_for_key(); - if (c == 'q') { - ccprintf("Calibration exited.\n"); - return EC_SUCCESS; - } - - if (c == 's') - goto auto_calib_done; - - /* In this orientation, the Z axis should be highest. Capture data. */ - motion_get_accel_base(&v_z); - - ccprintf("\nStep 4c: hold machine perpendicular to table with\n" - "the hinge up, and press enter.\n"); - - /* Wait for user to press enter, quit, or skip. */ - c = wait_for_key(); - if (c == 'q') { - ccprintf("Calibration exited.\n"); - return EC_SUCCESS; - } - - if (c == 's') - goto auto_calib_done; - - /* In this orientation, the X axis should be highest. Capture data. */ - motion_get_accel_base(&v_x); - - if (calibrate_standard_frame(&v_x, &v_y, &v_z) != EC_SUCCESS) { - ccprintf("Calibration error.\n"); - return EC_SUCCESS; - } - -auto_calib_done: - /* Print results of all calibration. */ - command_print_orientation(0, NULL); - - return EC_SUCCESS; -} -DECLARE_CONSOLE_COMMAND(accelcalib, command_auto_calibrate, - "", - "Auto calibrate the accelerometers", NULL); diff --git a/common/motion_sense.c b/common/motion_sense.c index 62be9ad181..f157838f12 100644 --- a/common/motion_sense.c +++ b/common/motion_sense.c @@ -156,43 +156,6 @@ int motion_get_lid_angle(void) return (int)LID_ANGLE_UNRELIABLE; } -#ifdef CONFIG_ACCEL_CALIBRATE -void motion_get_accel_lid(vector_3_t *v, int adjusted) -{ - int i; - struct motion_sensor_t *sensor; - struct motion_sensor_t *accel_lid = NULL; - for (i = 0; i < motion_sensor_count; ++i) { - sensor = &motion_sensors[i]; - if ((LOCATION_LID == sensor->location) - && (SENSOR_ACCELEROMETER == sensor->type)) { - accel_lid = sensor; - break; - } - } - if (accel_lid) - memcpy(v, (adjusted ? accel_lid->xyz : accel_lid->raw_xyz), - sizeof(vector_3_t)); -} - -void motion_get_accel_base(vector_3_t *v) -{ - int i; - struct motion_sensor_t *sensor; - struct motion_sensor_t *accel_base = NULL; - for (i = 0; i < motion_sensor_count; ++i) { - sensor = &motion_sensors[i]; - if ((LOCATION_BASE == sensor->location) - && (SENSOR_ACCELEROMETER == sensor->type)) { - accel_base = sensor; - break; - } - } - if (accel_base) - memcpy(v, accel_base->xyz, sizeof(vector_3_t)); -} -#endif - static void clock_chipset_shutdown(void) { int i; diff --git a/include/config.h b/include/config.h index bf2c76618d..cbc460408a 100644 --- a/include/config.h +++ b/include/config.h @@ -36,9 +36,6 @@ * BOARD_*, CHIP_*, and CHIP_FAMILY_*. */ -/* Enable EC console functions for calibrating accelerometers. */ -#undef CONFIG_ACCEL_CALIBRATE - /* Enable accelerometer interrupts. */ #undef CONFIG_ACCEL_INTERRUPTS @@ -1170,10 +1167,6 @@ #undef CONFIG_KEYBOARD_PROTOCOL_MKBP #endif -#ifndef HAS_TASK_MOTIONSENSE -#undef CONFIG_ACCEL_CALIBRATE -#endif - /*****************************************************************************/ /* * Apply test config overrides last, since tests need to override some of the diff --git a/include/math_util.h b/include/math_util.h index 1dc92c4999..044c411b23 100644 --- a/include/math_util.h +++ b/include/math_util.h @@ -47,47 +47,5 @@ void rotate(const vector_3_t v, const matrix_3x3_t R, vector_3_t res); -#ifdef CONFIG_ACCEL_CALIBRATE - -/** - * Multiply two 3x3 matrices. - * - * @param m1 - * @param m2 - * @param res Pointer to resultant matrix R = a1*a2; - */ -void matrix_multiply(matrix_3x3_t *m1, matrix_3x3_t *m2, matrix_3x3_t *res); - -/** - * Given an input matrix and an output matrix, solve for the rotation - * matrix to get from the input matrix to the output matrix. Note, that this - * operation is not guaranteed. In order to successfully calculate the rotation - * matrix, the input must be linearly independent so that the matrix can be - * inverted. - * - * This function solves the following matrix equation for R: - * in * R = out - * - * If input matrix is invertible the resulting rotation matrix is stored in R. - * - * @param in - * @param out - * @param R Pointer to resultant matrix. - * - * @return EC_SUCCESS if successful - */ -int solve_rotation_matrix(matrix_3x3_t *in, matrix_3x3_t *out, matrix_3x3_t *R); - -/** - * Calculate magnitude of a vector. - * - * @param v Vector to be measured. - * - * @return Magnitued of vector v. - */ -int vector_magnitude(const vector_3_t v); - -#endif - #endif /* __CROS_MATH_UTIL_H */ diff --git a/include/motion_sense.h b/include/motion_sense.h index 4991fcaba4..c08083be8c 100644 --- a/include/motion_sense.h +++ b/include/motion_sense.h @@ -45,11 +45,7 @@ struct accel_orientation { }; /* Link global structure for orientation. This must be defined in board.c. */ -extern -#ifndef CONFIG_ACCEL_CALIBRATE -const -#endif -struct accel_orientation acc_orient; +extern const struct accel_orientation acc_orient; /** @@ -61,23 +57,6 @@ struct accel_orientation acc_orient; int motion_get_lid_angle(void); -#ifdef CONFIG_ACCEL_CALIBRATE -/** - * Get the last measured lid acceleration vector. - * - * @param v Pointer to location to store vector. - * @param adjusted If false use the raw vector, if true use the adjusted vector. - */ -void motion_get_accel_lid(vector_3_t *v, int adjusted); - -/** - * Get the last measured base acceleration vector. - * - * @param v Pointer to location to store vector. - */ -void motion_get_accel_base(vector_3_t *v); -#endif - /** * Interrupt function for lid accelerometer. * |