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| author | Yilun Lin <yllin@google.com> | 2018-10-04 10:19:57 +0800 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2018-10-04 12:55:53 -0700 |
| commit | 315aaca9467f49bc432ef5f2de9c0e3bb56f0251 (patch) | |
| tree | 3ea739aca1db340e93b9daee7958d5afc5c9f31f /include/mat33.h | |
| parent | ece03ab4d09b157c5e6f3c4fe0446678c0d8684b (diff) | |
| download | chrome-ec-315aaca9467f49bc432ef5f2de9c0e3bb56f0251.tar.gz | |
mag_cal: Support fixed-point calculation.
Modified from floating point version. This includes changes to
vec3, vec4, mat33, mat44, and mag_cal.
Now fixed-point type (fp_*) functions is a function wrapper for both
fixed-point and floating point version operations:
* define CONFIG_FPU to use floating version mag_cal
* undef CONFIG_FPU to use fixed-point version mag_cal
Also, add tests for both float and fp types operations.
TEST=define CONFIG_FPU; flash on reef; See ARC++ magnetmeter app moving.
TEST=undef CONFIG_FPU; flash on reef; See ARC++ magnetmeter app moving.
TEST=make runtests -j
TEST=make buildalltests -j
BUG=b:113364863
BRANCH=None
Change-Id: Ie695945acb666912babb2a603e09c602a0624d44
Signed-off-by: Yilun Lin <yllin@google.com>
Reviewed-on: https://chromium-review.googlesource.com/1260704
Commit-Ready: Yilun Lin <yllin@chromium.org>
Tested-by: Yilun Lin <yllin@chromium.org>
Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>
Diffstat (limited to 'include/mat33.h')
| -rw-r--r-- | include/mat33.h | 22 |
1 files changed, 11 insertions, 11 deletions
diff --git a/include/mat33.h b/include/mat33.h index 0b8b0123cb..fdd7e954ac 100644 --- a/include/mat33.h +++ b/include/mat33.h @@ -7,25 +7,25 @@ #define __CROS_EC_MAT_33_H -#include "vec3.h" +#include "math_util.h" #include "util.h" +#include "vec3.h" typedef float mat33_float_t[3][3]; typedef size_t sizev3_t[3]; -void init_zero_matrix(mat33_float_t A); -void init_diagonal_matrix(mat33_float_t A, float x); - -void mat33_float_scalar_mul(mat33_float_t A, float c); +void mat33_fp_init_zero(mat33_fp_t A); +void mat33_fp_init_diagonal(mat33_fp_t A, fp_t x); -void mat33_float_swap_rows(mat33_float_t A, const size_t i, const size_t j); +void mat33_fp_scalar_mul(mat33_fp_t A, fp_t c); -void mat33_float_get_eigenbasis(mat33_float_t S, floatv3_t eigenvals, - mat33_float_t eigenvecs); +void mat33_fp_swap_rows(mat33_fp_t A, const size_t i, const size_t j); -size_t mat33_float_maxind(mat33_float_t A, size_t k); +void mat33_fp_get_eigenbasis(mat33_fp_t S, fpv3_t eigenvals, + mat33_fp_t eigenvecs); -void mat33_float_rotate(mat33_float_t A, float c, float s, - size_t k, size_t l, size_t i, size_t j); +size_t mat33_fp_maxind(mat33_fp_t A, size_t k); +void mat33_fp_rotate(mat33_fp_t A, fp_t c, fp_t s, + size_t k, size_t l, size_t i, size_t j); #endif /* __CROS_EC_MAT_33_H */ |