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2356c3e213
Added rotation of accelerometer data into a standard reference frame so that the host does not have to know about the orientation of the sensors. Also added a calibration routine to calibrate the rotation matrix to get to the standard reference frame. Cleanup up calibration in the process to make it more user friendly. Changed the default accelerometer sampling rate to 100Hz. BUG=chrome-os-partner:25599 BRANCH=rambi TEST=Tested the full calibration routine on a glimmer at my desk. Used 'taskinfo' and verified that the higher sampling rate does not bog down the EC. I found that the motion sense task is running for about 200ms every 10 seconds, so about 2% CPU load. Change-Id: I9ca1a4252f62a54016009c7d5e43b4cb1adf7e1d Original-Change-Id: Id554511f7cc9549dfc9ed2d6337216bfa639359d Signed-off-by: Alec Berg <alecaberg@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/187172 Reviewed-by: Randall Spangler <rspangler@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/188385
In the most general case, the flash layout looks something like this: +---------------------+ | Reserved for EC use | +---------------------+ +---------------------+ | Vblock B | +---------------------+ | RW firmware B | +---------------------+ +---------------------+ | Vblock A | +---------------------+ | RW firmware A | +---------------------+ +---------------------+ | FMAP | +---------------------+ | Public root key | +---------------------+ | Read-only firmware | +---------------------+ BIOS firmware (and kernel) put the vblock info at the start of each image where it's easy to find. The Blizzard EC expects the firmware vector table to come first, so we have to put the vblock at the end. This means we have to know where to look for it, but that's built into the FMAP and the RO firmware anyway, so that's not an issue. The RO firmware doesn't need a vblock of course, but it does need some reserved space for vboot-related things. Using SHA256/RSA4096, the vblock is 2468 bytes (0x9a4), while the public root key is 1064 bytes (0x428) and the current FMAP is 644 bytes (0x284). If we reserve 4K at the top of each FW image, that should give us plenty of room for vboot-related stuff.