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>

5 files changed, 31 insertions, 25 deletions

diff --git a/include/mag_cal.h b/include/mag_cal.h
index 753052f55f..b0b35ded6f 100644
--- a/include/mag_cal.h
+++ b/include/mag_cal.h
@@ -29,9 +29,9 @@ struct mag_cal_t {
 	 * | x  | y  | z  | 1  |
 	 * +----+----+----+----+
 	 */
-	mat44_float_t acc;
-	floatv4_t acc_w;
-	float radius;
+	mat44_fp_t acc;
+	fpv4_t acc_w;
+	fp_t radius;
 
 	intv3_t bias;
 
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 */
diff --git a/include/mat44.h b/include/mat44.h
index d8a8209055..2faa093c8e 100644
--- a/include/mat44.h
+++ b/include/mat44.h
@@ -8,17 +8,18 @@
 
 #define __CROS_EC_MAT_44_H
 
-#include "vec4.h"
+#include "math_util.h"
 #include "util.h"
+#include "vec4.h"
 
 typedef float mat44_float_t[4][4];
+typedef fp_t mat44_fp_t[4][4];
 typedef size_t sizev4_t[4];
 
-void mat44_float_decompose_lup(mat44_float_t LU, sizev4_t pivot);
-
-void mat44_float_swap_rows(mat44_float_t A, const size_t i, const size_t j);
+void mat44_fp_decompose_lup(mat44_fp_t LU, sizev4_t pivot);
 
-void mat44_float_solve(mat44_float_t A, floatv4_t x, const floatv4_t b,
-		 const sizev4_t pivot);
+void mat44_fp_swap_rows(mat44_fp_t A, const size_t i, const size_t j);
 
+void mat44_fp_solve(mat44_fp_t A, fpv4_t x, const fpv4_t b,
+		    const sizev4_t pivot);
 #endif  /* __CROS_EC_MAT_44_H */
diff --git a/include/vec3.h b/include/vec3.h
index 367956b2a1..39514157dd 100644
--- a/include/vec3.h
+++ b/include/vec3.h
@@ -7,11 +7,13 @@
 #ifndef __CROS_EC_VEC_3_H
 #define __CROS_EC_VEC_3_H
 
-typedef float floatv3_t[3];
+#include "math_util.h"
 
-void floatv3_scalar_mul(floatv3_t v, float c);
-float floatv3_dot(const floatv3_t v, const floatv3_t w);
-float floatv3_norm_squared(const floatv3_t v);
-float floatv3_norm(const floatv3_t v);
+typedef float floatv3_t[3];
+typedef fp_t fpv3_t[3];
 
+void fpv3_scalar_mul(fpv3_t v, fp_t c);
+fp_t fpv3_dot(const fpv3_t v, const fpv3_t w);
+fp_t fpv3_norm_squared(const fpv3_t v);
+fp_t fpv3_norm(const fpv3_t v);
 #endif  /* __CROS_EC_VEC_3_H */
diff --git a/include/vec4.h b/include/vec4.h
index 05257e584b..b35431c098 100644
--- a/include/vec4.h
+++ b/include/vec4.h
@@ -7,7 +7,10 @@
 
 #define __CROS_EC_VEC_4_H
 
+#include "math_util.h"
+
 typedef float floatv4_t[4];
+typedef fp_t fpv4_t[4];
 
 #endif  /* __CROS_EC_VEC_4_H */