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driver: accel: Apply offsets after rotation

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Offsets are in the axis of the device, not the sensor.
Apply the offsets after rotiation

BRANCH=cyan
TEST=compile, test on cyan
BUG=chromium:517675

Change-Id: Iae9282efcbb5889bb0f1f556b7e5ca9fabe31b22
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/294595
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
This commit is contained in:
Gwendal Grignou
2015-08-19 14:52:49 -07:00
committed by ChromeOS Commit Bot
parent 0e01759ced
commit f7fa6248bf
2 changed files with 14 additions and 9 deletions
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11
driver/accel_kxcj9.c
View File

@@ -417,16 +417,19 @@ static int read(const struct motion_sensor_t *s, vector_3_t v)
*
* Add calibration offset before returning the data.
*/
get_range(s, &range);
get_resolution(s, &resolution);
for (i = X; i <= Z; i++) {
v[i] = (((int8_t)acc[i * 2 + 1]) << 4) |
(acc[i * 2] >> 4);
v[i] <<= (16 - resolution);
v[i] += (data->offset[i] << 5) / range;
}
if (*s->rot_standard_ref != NULL)
rotate(v, *s->rot_standard_ref, v);
rotate(v, *s->rot_standard_ref, v);
/* apply offset in the device coordinates */
get_range(s, &range);
for (i = X; i <= Z; i++)
v[i] += (data->offset[i] << 5) / range;
return EC_SUCCESS;
}

12
driver/accelgyro_lsm6ds0.c
View File

@@ -375,13 +375,15 @@ static int read(const struct motion_sensor_t *s, vector_3_t v)
return ret;
}
get_range(s, &range);
for (i = X; i <= Z; i++) {
for (i = X; i <= Z; i++)
v[i] = ((int16_t)((raw[i * 2 + 1] << 8) | raw[i * 2]));
rotate(v, *s->rot_standard_ref, v);
/* apply offset in the device coordinates */
get_range(s, &range);
for (i = X; i <= Z; i++)
v[i] += (data->offset[i] << 5) / range;
}
if (*s->rot_standard_ref != NULL)
rotate(v, *s->rot_standard_ref, v);
return EC_SUCCESS;
}