dojo: BMI260 motion sensor tuning
Tuning standard ref of BMI260 motion sensor.
BRANCH=cherry
TEST=ectool motionsense
@@ -88,6 +88,12 @@ static const mat33_fp_t lid_standard_ref = {
{ 0, 0, FLOAT_TO_FP(-1)}
};
+static const mat33_fp_t bmi260_standard_ref = {
+ { 0, FLOAT_TO_FP(-1), 0},
+ { FLOAT_TO_FP(1), 0, 0},
+ { 0, 0, FLOAT_TO_FP(1)}
+};
+
struct motion_sensor_t motion_sensors[] = {
/*
* Note: bmi160: supports accelerometer and gyro sensor
@@ -177,7 +183,7 @@ struct motion_sensor_t bmi260_base_accel = {
.drv_data = &g_bmi260_data,
.port = I2C_PORT_ACCEL,
.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
- .rot_standard_ref = &base_standard_ref,
+ .rot_standard_ref = &bmi260_standard_ref,
.min_frequency = BMI_ACCEL_MIN_FREQ,
.max_frequency = BMI_ACCEL_MAX_FREQ,
.default_range = 4, /* g */
@@ -207,7 +213,7 @@ struct motion_sensor_t bmi260_base_gyro = {
.port = I2C_PORT_ACCEL,
.i2c_spi_addr_flags = BMI260_ADDR0_FLAGS,
.default_range = 1000, /* dps */
- .rot_standard_ref = &base_standard_ref,
+ .rot_standard_ref = &bmi260_standard_ref,
.min_frequency = BMI_GYRO_MIN_FREQ,
.max_frequency = BMI_GYRO_MAX_FREQ,
};
