diff options
Diffstat (limited to 'board/taeko/sensors.c')
| -rw-r--r-- | board/taeko/sensors.c | 52 |
1 files changed, 28 insertions, 24 deletions
diff --git a/board/taeko/sensors.c b/board/taeko/sensors.c index b5d75460fe..f12e2a9f94 100644 --- a/board/taeko/sensors.c +++ b/board/taeko/sensors.c @@ -67,21 +67,24 @@ static struct accelgyro_saved_data_t g_bma422_data; static struct lsm6dso_data lsm6dso_data; static struct lsm6dsm_data lsm6dsm_data = LSM6DSM_DATA; -/* TODO(b/201504044): calibrate the orientation matrix on later board stage */ -#if 0 -static const mat33_fp_t lid_standard_ref = { +/* The matrix for new DB */ +static const mat33_fp_t lid_ref_for_new_DB = { + { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, - { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(-1)} }; +/* Matrix to rotate lid and base sensor into standard reference frame */ +static const mat33_fp_t lid_standard_ref = { + { 0, FLOAT_TO_FP(1), 0}, + { FLOAT_TO_FP(-1), 0, 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}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; -#endif - struct motion_sensor_t bma422_lid_accel = { .name = "Lid Accel - BMA", @@ -94,7 +97,7 @@ struct motion_sensor_t bma422_lid_accel = { .drv_data = &g_bma422_data, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = BMA4_I2C_ADDR_PRIMARY, /* 0x18 */ - .rot_standard_ref = NULL, /* identity matrix */ + .rot_standard_ref = &lid_standard_ref, /* identity matrix */ .default_range = 2, /* g, enough for laptop. */ .min_frequency = BMA4_ACCEL_MIN_FREQ, .max_frequency = BMA4_ACCEL_MAX_FREQ, @@ -122,11 +125,9 @@ struct motion_sensor_t lsm6dsm_base_accel = { .mutex = &g_base_accel_mutex, .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, MOTIONSENSE_TYPE_ACCEL), - .int_signal = GPIO_EC_IMU_INT_R_L, - .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, to meet CDD 7.3.1/C-1-4 reqs */ .min_frequency = LSM6DSM_ODR_MIN_VAL, .max_frequency = LSM6DSM_ODR_MAX_VAL, @@ -153,12 +154,10 @@ struct motion_sensor_t lsm6dsm_base_gyro = { .drv = &lsm6dsm_drv, .mutex = &g_base_accel_mutex, .drv_data = LSM6DSM_ST_DATA(lsm6dsm_data, MOTIONSENSE_TYPE_GYRO), - .int_signal = GPIO_EC_IMU_INT_R_L, - .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .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, }; @@ -173,11 +172,9 @@ struct motion_sensor_t motion_sensors[] = { .drv = &lis2dw12_drv, .mutex = &g_lid_accel_mutex, .drv_data = &g_lis2dw12_data, - .int_signal = GPIO_EC_ACCEL_INT_R_L, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LIS2DW12_ADDR1, /* 0x19 */ - .flags = MOTIONSENSE_FLAG_INT_SIGNAL, - .rot_standard_ref = NULL, /* identity matrix */ + .rot_standard_ref = &lid_standard_ref, /* identity matrix */ .default_range = 2, /* g */ .min_frequency = LIS2DW12_ODR_MIN_VAL, .max_frequency = LIS2DW12_ODR_MAX_VAL, @@ -202,11 +199,9 @@ struct motion_sensor_t motion_sensors[] = { .drv = &lsm6dso_drv, .mutex = &g_base_accel_mutex, .drv_data = &lsm6dso_data, - .int_signal = GPIO_EC_IMU_INT_R_L, - .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, - .rot_standard_ref = NULL, + .rot_standard_ref = &base_standard_ref, .default_range = 4, /* g */ .min_frequency = LSM6DSO_ODR_MIN_VAL, .max_frequency = LSM6DSO_ODR_MAX_VAL, @@ -231,12 +226,10 @@ struct motion_sensor_t motion_sensors[] = { .drv = &lsm6dso_drv, .mutex = &g_base_accel_mutex, .drv_data = &lsm6dso_data, - .int_signal = GPIO_EC_IMU_INT_R_L, - .flags = MOTIONSENSE_FLAG_INT_SIGNAL, .port = I2C_PORT_SENSOR, .i2c_spi_addr_flags = LSM6DSO_ADDR0_FLAGS, .default_range = 1000 | ROUND_UP_FLAG, /* dps */ - .rot_standard_ref = NULL, + .rot_standard_ref = &base_standard_ref, .min_frequency = LSM6DSO_ODR_MIN_VAL, .max_frequency = LSM6DSO_ODR_MAX_VAL, }, @@ -287,6 +280,11 @@ static void board_detect_motionsensor(void) * we don't use INT1. Keep this pin as input w/o enable * interrupt. */ + if (get_board_id() >= 2) { + /* Need to change matrix when board ID >= 2 */ + bma422_lid_accel.rot_standard_ref = + &lid_ref_for_new_DB; + } return; } @@ -322,6 +320,12 @@ static void baseboard_sensors_init(void) motion_sensors[BASE_GYRO] = lsm6dsm_base_gyro; } + if (get_board_id() >= 2) { + /* Need to change matrix when board ID >= 2 */ + motion_sensors[LID_ACCEL].rot_standard_ref = + &lid_ref_for_new_DB; + } + /* Enable gpio interrupt for base accelgyro sensor */ gpio_enable_interrupt(GPIO_EC_IMU_INT_R_L); } else { |