diff options
Diffstat (limited to 'board/kukui/board.c')
| -rw-r--r-- | board/kukui/board.c | 21 |
1 files changed, 10 insertions, 11 deletions
diff --git a/board/kukui/board.c b/board/kukui/board.c index c2b866bd0a..adabd38ef9 100644 --- a/board/kukui/board.c +++ b/board/kukui/board.c @@ -325,21 +325,21 @@ int board_get_version(void) /* Motion sensors */ /* Mutexes */ #ifdef SECTION_IS_RW -static struct mutex g_base_mutex; +static struct mutex g_lid_mutex; static struct bmi160_drv_data_t g_bmi160_data; /* Matrix to rotate accelerometer into standard reference frame */ -const mat33_fp_t base_standard_ref = { - { FLOAT_TO_FP(-1), 0, 0}, - { 0, FLOAT_TO_FP(-1), 0}, +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)} }; /* Matrix to rotate accelrator into standard reference frame */ const mat33_fp_t mag_standard_ref = { + { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(-1), 0, 0}, - { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; @@ -356,11 +356,11 @@ struct motion_sensor_t motion_sensors[] = { .type = MOTIONSENSE_TYPE_ACCEL, .location = MOTIONSENSE_LOC_LID, .drv = &bmi160_drv, - .mutex = &g_base_mutex, + .mutex = &g_lid_mutex, .drv_data = &g_bmi160_data, .port = I2C_PORT_ACCEL, .addr = BMI160_ADDR0, - .rot_standard_ref = &base_standard_ref, + .rot_standard_ref = &lid_standard_ref, .default_range = 4, /* g */ .min_frequency = BMI160_ACCEL_MIN_FREQ, .max_frequency = BMI160_ACCEL_MAX_FREQ, @@ -379,12 +379,12 @@ struct motion_sensor_t motion_sensors[] = { .type = MOTIONSENSE_TYPE_GYRO, .location = MOTIONSENSE_LOC_LID, .drv = &bmi160_drv, - .mutex = &g_base_mutex, + .mutex = &g_lid_mutex, .drv_data = &g_bmi160_data, .port = I2C_PORT_ACCEL, .addr = BMI160_ADDR0, .default_range = 1000, /* dps */ - .rot_standard_ref = &base_standard_ref, + .rot_standard_ref = &lid_standard_ref, .min_frequency = BMI160_GYRO_MIN_FREQ, .max_frequency = BMI160_GYRO_MAX_FREQ, }, @@ -395,13 +395,12 @@ struct motion_sensor_t motion_sensors[] = { .type = MOTIONSENSE_TYPE_MAG, .location = MOTIONSENSE_LOC_LID, .drv = &bmi160_drv, - .mutex = &g_base_mutex, + .mutex = &g_lid_mutex, .drv_data = &g_bmi160_data, .port = I2C_PORT_ACCEL, .addr = BMI160_ADDR0, .default_range = 1 << 11, /* 16LSB / uT, fixed */ .rot_standard_ref = &mag_standard_ref, - .rot_standard_ref = NULL, .min_frequency = BMM150_MAG_MIN_FREQ, .max_frequency = BMM150_MAG_MAX_FREQ(SPECIAL), }, |