diff options
Diffstat (limited to 'board/boten/board.c')
| -rw-r--r-- | board/boten/board.c | 19 |
1 files changed, 16 insertions, 3 deletions
diff --git a/board/boten/board.c b/board/boten/board.c index edfff35f4e..0e82934373 100644 --- a/board/boten/board.c +++ b/board/boten/board.c @@ -282,6 +282,19 @@ BUILD_ASSERT(ARRAY_SIZE(pwm_channels) == PWM_CH_COUNT); static struct mutex g_lid_mutex; static struct mutex g_base_mutex; +/* Matrices to rotate accelerometers into the standard reference. */ +static const mat33_fp_t lid_standard_ref = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + +static const mat33_fp_t base_standard_ref = { + { FLOAT_TO_FP(1), 0, 0}, + { 0, FLOAT_TO_FP(1), 0}, + { 0, 0, FLOAT_TO_FP(-1)} +}; + /* Sensor Data */ static struct stprivate_data g_lis2dwl_data; static struct lsm6dsm_data lsm6dsm_data = LSM6DSM_DATA; @@ -299,7 +312,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_lis2dwl_data, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LIS2DWL_ADDR1_FLAGS, - .rot_standard_ref = NULL, + .rot_standard_ref = &lid_standard_ref, .default_range = 2, /* g */ .min_frequency = LIS2DW12_ODR_MIN_VAL, .max_frequency = LIS2DW12_ODR_MAX_VAL, @@ -326,7 +339,7 @@ struct motion_sensor_t motion_sensors[] = { .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, - .rot_standard_ref = NULL, + .rot_standard_ref = &base_standard_ref, .default_range = 4, /* g */ .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, @@ -356,7 +369,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LSM6DSM_ADDR0_FLAGS, .default_range = 1000 | ROUND_UP_FLAG, /* dps */ - .rot_standard_ref = NULL, + .rot_standard_ref = &base_standard_ref, .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, }, |