krane: Fix g-sensor reference point for all revisions
This should apply to all Kranes.
TEST=factory accelometer test
BRANCH=master
@@ -437,21 +437,20 @@ static struct tcs3400_rgb_drv_data_t g_tcs3400_rgb_data = {
},
};
-#ifdef BOARD_KRANE
/* Matrix to rotate accelerometer into standard reference frame */
-static const mat33_fp_t lid_standard_ref_rev3 = {
- {0, FLOAT_TO_FP(-1), 0},
+#ifdef BOARD_KUKUI
+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)}
};
-#endif /* BOARD_KRANE */
-
-/* Matrix to rotate accelerometer into standard reference frame */
+#else
static const mat33_fp_t lid_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)}
};
+#endif /* BOARD_KUKUI */
#ifdef CONFIG_MAG_BMI160_BMM150
/* Matrix to rotate accelrator into standard reference frame */
@@ -576,24 +575,8 @@ const unsigned int motion_sensor_count = ARRAY_SIZE(motion_sensors);
const struct motion_sensor_t *motion_als_sensors[] = {
&motion_sensors[CLEAR_ALS],
};
-
#endif /* SECTION_IS_RW */
-#ifdef BOARD_KRANE
-static void fix_krane(void)
-{
- if (board_get_version() != 3)
- return;
-
-#ifdef SECTION_IS_RW
- /* Fix reference point */
- motion_sensors[LID_ACCEL].rot_standard_ref = &lid_standard_ref_rev3;
- motion_sensors[LID_GYRO].rot_standard_ref = &lid_standard_ref_rev3;
-#endif /* SECTION_IS_RW */
-}
-DECLARE_HOOK(HOOK_INIT, fix_krane, HOOK_PRIO_INIT_ADC + 1);
-#endif /* BOARD_KRANE */
-
int board_allow_i2c_passthru(int port)
{
return (port == I2C_PORT_VIRTUAL_BATTERY);
