diff options
| author | Gwendal Grignou <gwendal@chromium.org> | 2015-09-11 12:02:26 -0700 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2015-10-13 05:28:54 -0700 |
| commit | 828b55a7358ad5ec8bc27552bfb280eb173dd453 (patch) | |
| tree | b9430d2bf624ee2b6976eed211696b50ae56decb /common/vec3.c | |
| parent | 0647f66f81de880af603a7fb70f57159519782ac (diff) | |
| download | chrome-ec-828b55a7358ad5ec8bc27552bfb280eb173dd453.tar.gz | |
common: Add magnetometer online calibration.
Code for hard iron calibration: Every seconds (or faster if enough
samples), find a sphere that fit the compass data.
Based on Android code.
BRANCH=smaug
BUG=chrome-os-partner:39900
TEST=Check hard-iron bias is removed. Works better outside.
Change-Id: Iab479d5113b6560b4f01b0fd87373d2eecdb9b54
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/299583
Reviewed-by: Anton Staaf <robotboy@chromium.org>
Diffstat (limited to 'common/vec3.c')
| -rw-r--r-- | common/vec3.c | 33 |
1 files changed, 33 insertions, 0 deletions
diff --git a/common/vec3.c b/common/vec3.c new file mode 100644 index 0000000000..12c33179c2 --- /dev/null +++ b/common/vec3.c @@ -0,0 +1,33 @@ +/* Copyright 2015 The Chromium OS Authors. All rights reserved. + * Use of this source code is governed by a BSD-style license that can be + * found in the LICENSE file. + */ + +#include "common.h" +#include "math.h" +#include "math_util.h" +#include "vec3.h" +#include "util.h" + +void vec3_scalar_mul(vec3_t v, float c) +{ + v[X] *= c; + v[Y] *= c; + v[Z] *= c; +} + +float vec3_dot(const vec3_t v, const vec3_t w) +{ + return v[X] * w[X] + v[Y] * w[Y] + v[Z] * w[Z]; +} + +float vec3_norm_squared(const vec3_t v) +{ + return vec3_dot(v, v); +} + +float vec3_norm(const vec3_t v) +{ + return sqrtf(vec3_norm_squared(v)); +} + |