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Add matrices to align sensors vectors with the device reference. Move rotation in read routines, to allow fifo to contains processed information. BRANCH=smaug TEST=Worsk on smaug BUG=chrome-os-partner:39900 Change-Id: I009e7f24ef6ee0574ed664aeb5fd649fcd7039fd Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/286659 Reviewed-by: Alec Berg <alecaberg@chromium.org>