diff options
| -rw-r--r-- | baseboard/grunt/baseboard.c | 20 | ||||
| -rw-r--r-- | baseboard/grunt/baseboard.h | 18 | ||||
| -rw-r--r-- | board/careena/board.c | 7 | ||||
| -rw-r--r-- | common/spi_flash_reg.c | 26 | ||||
| -rw-r--r-- | include/math_util.h | 2 |
5 files changed, 44 insertions, 29 deletions
diff --git a/baseboard/grunt/baseboard.c b/baseboard/grunt/baseboard.c index f2251639f4..ded1c6ac19 100644 --- a/baseboard/grunt/baseboard.c +++ b/baseboard/grunt/baseboard.c @@ -310,21 +310,9 @@ BUILD_ASSERT(ARRAY_SIZE(temp_sensors) == TEMP_SENSOR_COUNT); static struct mutex g_lid_mutex; static struct mutex g_base_mutex; -/* - * Matrix to rotate accelerators into the standard reference frame. The default - * is the identity which is correct for the reference design. Variations of - * Grunt may need to change it for manufacturability. - * For the lid: - * +x to the right - * +y up - * +z out of the page - * - * The principle axes of the body are aligned with the lid when the lid is in - * the 180 degree position (open, flat). - */ -matrix_3x3_t base_standard_ref = { +matrix_3x3_t grunt_base_standard_ref = { { FLOAT_TO_FP(1), 0, 0}, - { 0, FLOAT_TO_FP(1), 0}, + { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(1)} }; @@ -375,7 +363,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, .default_range = 2, /* g, enough for laptop */ - .rot_standard_ref = (const matrix_3x3_t *)&base_standard_ref, + .rot_standard_ref = (const matrix_3x3_t *)&grunt_base_standard_ref, .min_frequency = BMI160_ACCEL_MIN_FREQ, .max_frequency = BMI160_ACCEL_MAX_FREQ, .config = { @@ -403,7 +391,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, .default_range = 1000, /* dps */ - .rot_standard_ref = (const matrix_3x3_t *)&base_standard_ref, + .rot_standard_ref = (const matrix_3x3_t *)&grunt_base_standard_ref, .min_frequency = BMI160_GYRO_MIN_FREQ, .max_frequency = BMI160_GYRO_MAX_FREQ, }, diff --git a/baseboard/grunt/baseboard.h b/baseboard/grunt/baseboard.h index 5520affed1..106620f3be 100644 --- a/baseboard/grunt/baseboard.h +++ b/baseboard/grunt/baseboard.h @@ -180,6 +180,7 @@ #ifndef __ASSEMBLER__ #include "gpio_signal.h" +#include "math_util.h" #include "registers.h" enum adc_channel { @@ -212,6 +213,23 @@ enum sensor_id { BASE_GYRO, }; +/* + * Matrix to rotate accelerators into the standard reference frame. The default + * is the identity which is correct for the reference design. Variations of + * Grunt may need to change it for manufacturability. + * For the lid: + * +x to the right + * +y up + * +z out of the page + * + * The principle axes of the body are aligned with the lid when the lid is in + * the 180 degree position (open, flat). + * + * Boards within the Grunt family may need to modify this definition at + * board_init() time. + */ +extern matrix_3x3_t grunt_base_standard_ref; + /* Sensors without hardware FIFO are in forced mode */ #define CONFIG_ACCEL_FORCE_MODE_MASK (1 << LID_ACCEL) diff --git a/board/careena/board.c b/board/careena/board.c index afa9c18637..1bae162930 100644 --- a/board/careena/board.c +++ b/board/careena/board.c @@ -124,6 +124,13 @@ BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT); static void board_init(void) { + /* + * Careena's baseboard is rotated 180 degrees about the +y axis relative + * to the Grunt reference design. + */ + grunt_base_standard_ref[0][0] = FLOAT_TO_FP(-1); + grunt_base_standard_ref[2][2] = FLOAT_TO_FP(-1); + /* Enable Gyro interrupts */ gpio_enable_interrupt(GPIO_6AXIS_INT_L); } diff --git a/common/spi_flash_reg.c b/common/spi_flash_reg.c index 569bbd5072..3cee0f3bd4 100644 --- a/common/spi_flash_reg.c +++ b/common/spi_flash_reg.c @@ -14,7 +14,7 @@ enum bit_state { OFF = 0, ON = 1, - X = -1, /* Don't care */ + IGN = -1, /* Don't care / Ignore */ }; struct protect_range { @@ -26,10 +26,10 @@ struct protect_range { uint32_t protect_len; }; -/* Compare macro for (x =? b) for 'X' comparison */ -#define COMPARE_BIT(a, b) ((a) != X && (a) != !!(b)) -/* Assignment macro where 'X' = 0 */ -#define GET_BIT(a) ((a) == X ? 0 : (a)) +/* Compare macro for (x =? b) for 'IGN' comparison */ +#define COMPARE_BIT(a, b) ((a) != IGN && (a) != !!(b)) +/* Assignment macro where 'IGN' = 0 */ +#define GET_BIT(a) ((a) == IGN ? 0 : (a)) /* * Define flags and protect table for each SPI ROM part. It's not necessary @@ -39,9 +39,9 @@ struct protect_range { */ #if defined(CONFIG_SPI_FLASH_W25X40) || defined(CONFIG_SPI_FLASH_GD25Q41B) static const struct protect_range spi_flash_protect_ranges[] = { - { X, X, X, { 0, 0, 0 }, 0, 0 }, /* No protection */ - { X, X, 1, { 0, 1, 1 }, 0, 0x40000 }, /* Lower 1/2 */ - { X, X, 1, { 0, 1, 0 }, 0, 0x20000 }, /* Lower 1/4 */ + { IGN, IGN, IGN, { 0, 0, 0 }, 0, 0 }, /* No protection */ + { IGN, IGN, 1, { 0, 1, 1 }, 0, 0x40000 }, /* Lower 1/2 */ + { IGN, IGN, 1, { 0, 1, 0 }, 0, 0x20000 }, /* Lower 1/4 */ }; #elif defined(CONFIG_SPI_FLASH_W25Q40) || defined(CONFIG_SPI_FLASH_GD25LQ40) @@ -49,17 +49,17 @@ static const struct protect_range spi_flash_protect_ranges[] = { /* For GD25LQ40, BP3 and BP4 have same meaning as TB and SEC */ static const struct protect_range spi_flash_protect_ranges[] = { /* CMP = 0 */ - { 0, X, X, { 0, 0, 0 }, 0, 0 }, /* No protection */ + { 0, IGN, IGN, { 0, 0, 0 }, 0, 0 }, /* No protection */ { 0, 0, 1, { 0, 1, 0 }, 0, 0x20000 }, /* Lower 1/4 */ { 0, 0, 1, { 0, 1, 1 }, 0, 0x40000 }, /* Lower 1/2 */ /* CMP = 1 */ { 1, 0, 0, { 0, 1, 1 }, 0, 0x40000 }, /* Lower 1/2 */ - { 1, 0, X, { 1, X, X }, 0, 0 }, /* None (W25Q40EW only) */ + { 1, 0, IGN, { 1, IGN, IGN }, 0, 0 }, /* None (W25Q40EW only) */ }; #elif defined(CONFIG_SPI_FLASH_W25Q64) static const struct protect_range spi_flash_protect_ranges[] = { - { 0, X, X, { 0, 0, 0 }, 0, 0 }, /* No protection */ + { 0, IGN, IGN, { 0, 0, 0 }, 0, 0 }, /* No protection */ { 0, 0, 1, { 1, 1, 0 }, 0, 0x400000 }, /* Lower 1/2 */ { 0, 0, 1, { 1, 0, 1 }, 0, 0x200000 }, /* Lower 1/4 */ }; @@ -67,7 +67,7 @@ static const struct protect_range spi_flash_protect_ranges[] = { #elif defined(CONFIG_SPI_FLASH_W25Q80) static const struct protect_range spi_flash_protect_ranges[] = { /* CMP = 0 */ - { 0, X, X, { 0, 0, 0 }, 0, 0 }, /* No protection */ + { 0, IGN, IGN, { 0, 0, 0 }, 0, 0 }, /* No protection */ { 0, 0, 1, { 0, 1, 0 }, 0, 0x20000 }, /* Lower 1/8 */ { 0, 0, 1, { 0, 1, 1 }, 0, 0x40000 }, /* Lower 1/4 */ { 0, 0, 1, { 1, 0, 0 }, 0, 0x80000 }, /* Lower 1/2 */ @@ -75,7 +75,7 @@ static const struct protect_range spi_flash_protect_ranges[] = { #elif defined(CONFIG_SPI_FLASH_W25Q128) static const struct protect_range spi_flash_protect_ranges[] = { /* CMP = 0 */ - { 0, X, X, { 0, 0, 0 }, 0, 0 }, /* No protection */ + { 0, IGN, IGN, { 0, 0, 0 }, 0, 0 }, /* No protection */ { 0, 0, 1, { 1, 0, 0 }, 0, 0x20000 }, /* Lower 1/8 */ { 0, 0, 1, { 1, 0, 1 }, 0, 0x40000 }, /* Lower 1/4 */ { 0, 0, 1, { 1, 1, 0 }, 0, 0x80000 }, /* Lower 1/2 */ diff --git a/include/math_util.h b/include/math_util.h index 385c044c6f..093c6c099e 100644 --- a/include/math_util.h +++ b/include/math_util.h @@ -8,6 +8,8 @@ #ifndef __CROS_EC_MATH_UTIL_H #define __CROS_EC_MATH_UTIL_H +#include <stdint.h> + #ifdef CONFIG_FPU typedef float fp_t; typedef float fp_inter_t; |