diff options
| -rw-r--r-- | board/bobba/board.c | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/board/bobba/board.c b/board/bobba/board.c index 9bcfd777f5..5bb71f806f 100644 --- a/board/bobba/board.c +++ b/board/bobba/board.c @@ -141,6 +141,22 @@ const mat33_fp_t base_standard_ref = { { 0, 0, FLOAT_TO_FP(1)} }; +/* + * Sparky360 SKU ID 26 has AR Cam, and move base accel/gryo to AR Cam board. + * AR Cam board has about -16° bias with motherboard through Y axis. + * Rotation matrix with -16° through Y axis: + * | cos(-16°) 0 sin(-16°)| + * R = | 0 1 0 | + * |-sin(-16°) 0 cos(-16°)| + * + * base_ar_cam_ref = R * base_standard_ref + */ +const mat33_fp_t base_ar_cam_ref = { + { 0, FLOAT_TO_FP(-0.96126), FLOAT_TO_FP(0.27564)}, + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(0.27564), FLOAT_TO_FP(0.96126)} +}; + /* sensor private data */ static struct kionix_accel_data g_kx022_data; static struct bmi160_drv_data_t g_bmi160_data; @@ -237,6 +253,12 @@ static int board_is_convertible(void) || sku_id == 25 || sku_id == 26 || sku_id == 255; } +static int board_with_ar_cam(void) +{ + /* SKU ID of Sparky360 with AR Cam: 26 */ + return sku_id == 26; +} + static void board_update_sensor_config_from_sku(void) { if (board_is_convertible()) { @@ -245,6 +267,12 @@ static void board_update_sensor_config_from_sku(void) motion_sensor_count = 0; tablet_disable_switch(); } + + /* Sparky360 with AR Cam: base accel/gyro sensor is on AR Cam board. */ + if (board_with_ar_cam()) { + motion_sensors[BASE_ACCEL].rot_standard_ref = &base_ar_cam_ref; + motion_sensors[BASE_GYRO].rot_standard_ref = &base_ar_cam_ref; + } } /* Read CBI from i2c eeprom and initialize variables for board variants */ |