type: Rename mat33_t to mat33_float_t

Naming of many vector types and matrix types are not clear enough.
For example, we have:
  vector_3_t, which is a vector of three int.
  vec3_t, which is a vector of three float.
  size4_t, which is a vector of four size_t.
  mat33_t, which is a 3x3 matrix of float.
  matrix_3x3_t, which is a 3x3 matrix of fixed point.
Besides, we have types like int8_t, uint16_t types.

To clearly distinguished types, the CL propose to,

For vector types, naming should be `$type + 'v' + $num + '_t'`:
  vector_3_t becomes intv3_t
  vec3_t becomes floatv3_t
  vector 4 of uint16_t becomes uint16v4_t (which doesn't exist yet)

For matrix types, naming should be `mat$N$N_` + $type + '_t', where $N is the
matrix size:
  matrix_3x3_t becomes mat33_fp_t  # fp: fixed point
  mat33_t becomes mat33_float_t

TEST=make buildall -j
BUG=b:114662791

Change-Id: Ia601bfc9f9fb311f6ca91bfa2e8fa34259ed6c5b
Signed-off-by: Yilun Lin <yllin@google.com>
Reviewed-on: https://chromium-review.googlesource.com/1215447
Commit-Ready: Yilun Lin <yllin@chromium.org>
Tested-by: Yilun Lin <yllin@chromium.org>
Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>

3 files changed, 28 insertions, 28 deletions

diff --git a/common/mag_cal.c b/common/mag_cal.c
index 08d5f7afd2..160530c2b9 100644
--- a/common/mag_cal.c
+++ b/common/mag_cal.c
@@ -34,9 +34,9 @@
  */
 static int moc_eigen_test(struct mag_cal_t *moc)
 {
-	mat33_t S;
+	mat33_float_t S;
 	floatv3_t eigenvals;
-	mat33_t eigenvecs;
+	mat33_float_t eigenvecs;
 	float evmax, evmin, evmag;
 	int eigen_pass;
 
@@ -48,7 +48,7 @@ static int moc_eigen_test(struct mag_cal_t *moc)
 	S[1][2] = S[2][1] = moc->acc[1][2] - moc->acc[1][3] * moc->acc[2][3];
 	S[2][2] = moc->acc[2][2] - moc->acc[2][3] * moc->acc[2][3];
 
-	mat33_get_eigenbasis(S, eigenvals, eigenvecs);
+	mat33_float_get_eigenbasis(S, eigenvals, eigenvecs);
 
 	evmax = (eigenvals[X] > eigenvals[Y]) ? eigenvals[X] : eigenvals[Y];
 	evmax = (eigenvals[Z] > evmax) ? eigenvals[Z] : evmax;
diff --git a/common/mat33.c b/common/mat33.c
index d5d062b7ce..793173ee3a 100644
--- a/common/mat33.c
+++ b/common/mat33.c
@@ -10,12 +10,12 @@
 
 #define K_EPSILON 1E-5f
 
-void init_zero_matrix(mat33_t A)
+void init_zero_matrix(mat33_float_t A)
 {
-	memset(A, 0, sizeof(mat33_t));
+	memset(A, 0, sizeof(mat33_float_t));
 }
 
-void init_diagonal_matrix(mat33_t A, float x)
+void init_diagonal_matrix(mat33_float_t A, float x)
 {
 	size_t i;
 	init_zero_matrix(A);
@@ -24,7 +24,7 @@ void init_diagonal_matrix(mat33_t A, float x)
 		A[i][i] = x;
 }
 
-void mat33_scalar_mul(mat33_t A, float c)
+void mat33_float_scalar_mul(mat33_float_t A, float c)
 {
 	size_t i;
 	for (i = 0; i < 3; ++i) {
@@ -34,7 +34,7 @@ void mat33_scalar_mul(mat33_t A, float c)
 	}
 }
 
-void mat33_swap_rows(mat33_t A, const size_t i, const size_t j)
+void mat33_float_swap_rows(mat33_float_t A, const size_t i, const size_t j)
 {
 	const size_t N = 3;
 	size_t k;
@@ -55,14 +55,15 @@ void mat33_swap_rows(mat33_t A, const size_t i, const size_t j)
  * The i-th eigenvalue corresponds to the eigenvector in the i-th _row_ of
  * "eigenvecs".
  */
-void mat33_get_eigenbasis(mat33_t S, floatv3_t e_vals, mat33_t e_vecs)
+void mat33_float_get_eigenbasis(mat33_float_t S, floatv3_t e_vals,
+				mat33_float_t e_vecs)
 {
 	const size_t N = 3;
 	sizev3_t ind;
 	size_t i, j, k, l, m;
 
 	for (k = 0; k < N; ++k) {
-		ind[k] = mat33_maxind(S, k);
+		ind[k] = mat33_float_maxind(S, k);
 		e_vals[k] = S[k][k];
 	}
 
@@ -104,13 +105,13 @@ void mat33_get_eigenbasis(mat33_t S, floatv3_t e_vals, mat33_t e_vecs)
 		e_vals[l] += t;
 
 		for (i = 0; i < k; ++i)
-			mat33_rotate(S, c, s, i, k, i, l);
+			mat33_float_rotate(S, c, s, i, k, i, l);
 
 		for (i = k + 1; i < l; ++i)
-			mat33_rotate(S, c, s, k, i, i, l);
+			mat33_float_rotate(S, c, s, k, i, i, l);
 
 		for (i = l + 1; i < N; ++i)
-			mat33_rotate(S, c, s, k, i, l, i);
+			mat33_float_rotate(S, c, s, k, i, l, i);
 
 		for (i = 0; i < N; ++i) {
 			float tmp = c * e_vecs[k][i] - s * e_vecs[l][i];
@@ -118,8 +119,8 @@ void mat33_get_eigenbasis(mat33_t S, floatv3_t e_vals, mat33_t e_vecs)
 			e_vecs[k][i] = tmp;
 		}
 
-		ind[k] = mat33_maxind(S, k);
-		ind[l] = mat33_maxind(S, l);
+		ind[k] = mat33_float_maxind(S, k);
+		ind[l] = mat33_float_maxind(S, l);
 
 		sum = 0.0f;
 		for (i = 0; i < N; ++i)
@@ -141,13 +142,13 @@ void mat33_get_eigenbasis(mat33_t S, floatv3_t e_vals, mat33_t e_vecs)
 			e_vals[k] = e_vals[m];
 			e_vals[m] = tmp;
 
-			mat33_swap_rows(e_vecs, k, m);
+			mat33_float_swap_rows(e_vecs, k, m);
 		}
 	}
 }
 
 /* index of largest off-diagonal element in row k */
-size_t mat33_maxind(mat33_t A, size_t k)
+size_t mat33_float_maxind(mat33_float_t A, size_t k)
 {
 	const size_t N = 3;
 	size_t i, m = k + 1;
@@ -159,12 +160,10 @@ size_t mat33_maxind(mat33_t A, size_t k)
 	return m;
 }
 
-void mat33_rotate(mat33_t A, float c, float s,
+void mat33_float_rotate(mat33_float_t A, float c, float s,
 		  size_t k, size_t l, size_t i, size_t j)
 {
 	float tmp = c * A[k][l] - s * A[i][j];
 	A[i][j] = s * A[k][l] + c * A[i][j];
 	A[k][l] = tmp;
 }
-
-
diff --git a/include/mat33.h b/include/mat33.h
index 5dd77cbdb9..0b8b0123cb 100644
--- a/include/mat33.h
+++ b/include/mat33.h
@@ -10,21 +10,22 @@
 #include "vec3.h"
 #include "util.h"
 
-typedef float mat33_t[3][3];
+typedef float mat33_float_t[3][3];
 typedef size_t sizev3_t[3];
 
-void init_zero_matrix(mat33_t A);
-void init_diagonal_matrix(mat33_t A, float x);
+void init_zero_matrix(mat33_float_t A);
+void init_diagonal_matrix(mat33_float_t A, float x);
 
-void mat33_scalar_mul(mat33_t A, float c);
+void mat33_float_scalar_mul(mat33_float_t A, float c);
 
-void mat33_swap_rows(mat33_t A, const size_t i, const size_t j);
+void mat33_float_swap_rows(mat33_float_t A, const size_t i, const size_t j);
 
-void mat33_get_eigenbasis(mat33_t S, floatv3_t eigenvals, mat33_t eigenvecs);
+void mat33_float_get_eigenbasis(mat33_float_t S, floatv3_t eigenvals,
+				mat33_float_t eigenvecs);
 
-size_t mat33_maxind(mat33_t A, size_t k);
+size_t mat33_float_maxind(mat33_float_t A, size_t k);
 
-void mat33_rotate(mat33_t A, float c, float s,
+void mat33_float_rotate(mat33_float_t A, float c, float s,
 		  size_t k, size_t l, size_t i, size_t j);
 
 #endif  /* __CROS_EC_MAT_33_H */