1 files changed, 71 insertions, 0 deletions
diff --git a/include/motion_sense.h b/include/motion_sense.h
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+++ b/include/motion_sense.h
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+/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved.
+ * Use of this source code is governed by a BSD-style license that can be
+ * found in the LICENSE file.
+ */
+
+/* Header for motion_sense.c */
+
+#ifndef __CROS_EC_MOTION_SENSE_H
+#define __CROS_EC_MOTION_SENSE_H
+
+#include "math_util.h"
+
+/**
+ * This structure defines all of the data needed to specify the orientation
+ * of the base and lid accelerometers in order to calculate the lid angle.
+ */
+struct accel_orientation {
+	/*
+	 * Rotation matrix to rotate the lid sensor into the same reference
+	 * frame as the base sensor.
+	 */
+	matrix_3x3_t rot_align;
+
+	/* Rotation matrix to rotate positive 90 degrees around the hinge. */
+	matrix_3x3_t rot_hinge_90;
+
+	/*
+	 * Rotation matrix to rotate 180 degrees around the hinge. The value
+	 * here should be rot_hinge_90 ^ 2.
+	 */
+	matrix_3x3_t rot_hinge_180;
+
+	/* Vector pointing along hinge axis. */
+	vector_3_t hinge_axis;
+};
+
+/* Link global structure for orientation. This must be defined in board.c. */
+extern
+#ifndef CONFIG_ACCEL_CALIBRATE
+const
+#endif
+struct accel_orientation acc_orient;
+
+
+/**
+ * Get last calculated lid angle.
+ *
+ * @return lid angle in degrees in range [-180, 180].
+ */
+int motion_get_lid_angle(void);
+
+
+#ifdef CONFIG_ACCEL_CALIBRATE
+/**
+ * Get the last measured lid acceleration vector.
+ *
+ * @param v Pointer to location to store vector.
+ * @param adjusted If false use the raw vector, if true use the adjusted vector.
+ */
+void motion_get_accel_lid(vector_3_t *v, int adjusted);
+
+/**
+ * Get the last measured base acceleration vector.
+ *
+ * @param v Pointer to location to store vector.
+ */
+void motion_get_accel_base(vector_3_t *v);
+#endif
+
+
+#endif /* __CROS_EC_MOTION_SENSE_H */