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The accelerometer calibration routine came up with the wrong sign for the z-axis. Fixed that bug and flipped the sign for glimmer in the standard reference frame rotation matrix. BUG=none BRANCH=rambi TEST=Tested on a glimmer. Ran calibration routine and then verified that if the unit is sitting flat on a table with lid open to 90, the accelometer data send to host should read: base = 0, 0, 1024 lid = -1024, 0, 0 When the laptop is closed and flipped over, the data should read: base = 0, 0, -1024 lid = 0, 0, -1024 Change-Id: I1e8bcda26c16496d9cb49dece12db0c4ea929ece Original-Change-Id: If3bb7a095e400f5a247fab64b0050a44f4947e6c Signed-off-by: Alec Berg <alecaberg@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/190400 Reviewed-by: Dave Parker <dparker@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/191579 Reviewed-by: Randall Spangler <rspangler@chromium.org>
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.