diff options
| -rw-r--r-- | common/motion_lid.c | 7 | ||||
| -rw-r--r-- | test/motion_lid.c | 14 |
2 files changed, 19 insertions, 2 deletions
diff --git a/common/motion_lid.c b/common/motion_lid.c index 8572db928c..d36ecc5e64 100644 --- a/common/motion_lid.c +++ b/common/motion_lid.c @@ -323,11 +323,14 @@ static int calculate_lid_angle(const vector_3_t base, const vector_3_t lid, /* * If the angle was last seen as really large and now it's quite * small, we may be rotating around from 360->0 so correct it to - * be large. + * be large. But in case that the lid switch is closed, we can + * prove the small angle we see is correct so we take the angle + * as is. */ if ((last_lid_angle_fp >= FLOAT_TO_FP(360) - DEBOUNCE_ANGLE_DELTA) && - (lid_to_base_fp <= DEBOUNCE_ANGLE_DELTA)) + (lid_to_base_fp <= DEBOUNCE_ANGLE_DELTA) && + (lid_is_open())) last_lid_angle_fp = FLOAT_TO_FP(360) - lid_to_base_fp; else last_lid_angle_fp = lid_to_base_fp; diff --git a/test/motion_lid.c b/test/motion_lid.c index dfea3ecf91..bed03379ff 100644 --- a/test/motion_lid.c +++ b/test/motion_lid.c @@ -316,6 +316,20 @@ static int test_lid_angle(void) wait_for_valid_sample(); TEST_ASSERT(motion_lid_get_angle() == LID_ANGLE_UNRELIABLE); + /* + * Open the lid to 350, and then close the lid and set the angle + * to 10. The reading of small angle shouldn't be corrected. + */ + gpio_set_level(GPIO_LID_OPEN, 1); + msleep(100); + gpio_set_level(GPIO_LID_OPEN, 0); + msleep(100); + lid->xyz[X] = 0; + lid->xyz[Y] = 173; + lid->xyz[Z] = -984; + wait_for_valid_sample(); + TEST_ASSERT(motion_lid_get_angle() == 10); + return EC_SUCCESS; } |