From 57949eea6df840f37ac815617bc1f0122792da57 Mon Sep 17 00:00:00 2001 From: Phoenix Wu Date: Wed, 30 Jan 2019 09:53:21 +0800 Subject: flapjack: adjust lid reference matrix of accel&gyro sensor BMI160 Fix reference point according to the bmi160 datasheet for flapjack CQ-DEPEND=CL:1438957 BUG=b:123388603 BRANCH=None TEST=1.)After AP power-on, before OS, run "sysjump rw" in EC to jump RW 2.)Flip the board and see that the UI also flips accordingly. Change-Id: Idc86254a732802afb9e92b785a27d4fd935fbd22 Reviewed-on: https://chromium-review.googlesource.com/1445131 Commit-Ready: ChromeOS CL Exonerator Bot Tested-by: Phoenix Wu Tested-by: Kaka Ni Reviewed-by: Phoenix Wu Reviewed-by: Kaka Ni Reviewed-by: Daisuke Nojiri --- board/flapjack/board.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'board') diff --git a/board/flapjack/board.c b/board/flapjack/board.c index 3c8c334659..692219ac3a 100644 --- a/board/flapjack/board.c +++ b/board/flapjack/board.c @@ -324,9 +324,9 @@ static struct bmi160_drv_data_t g_bmi160_data; /* Matrix to rotate accelerometer into standard reference frame */ 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)} + { 0, FLOAT_TO_FP(-1), 0}, + { FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(-1)} }; /* Matrix to rotate accelrator into standard reference frame */ -- cgit v1.2.1