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| author | Gwendal Grignou <gwendal@chromium.org> | 2015-08-17 14:58:32 -0700 |
|---|---|---|
| committer | ChromeOS Commit Bot <chromeos-commit-bot@chromium.org> | 2015-08-24 19:08:20 +0000 |
| commit | 0e01759cedcd25868196508177791388b89450e5 (patch) | |
| tree | d361152082ad7a92a37d3e5fb9d7981202c40b19 /test | |
| parent | de42bb285fa45a777ed7a27be9f4c99c8f606ed8 (diff) | |
| download | chrome-ec-0e01759cedcd25868196508177791388b89450e5.tar.gz | |
math: Add inverse matrix calculation
Add a slow inverse matrix calculation function.
It is needed to apply factory offset properly.
Also consider the NULL matrix the identity matrix.
BRANCH=smaug,cyan
TEST=Unit test
BUG=chromium:517675
Change-Id: Ifa11954992e6f2fab02b4e92684e7b01bbaafe94
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/294594
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
Diffstat (limited to 'test')
| -rw-r--r-- | test/math_util.c | 34 | ||||
| -rw-r--r-- | test/motion_lid.c | 5 |
2 files changed, 35 insertions, 4 deletions
diff --git a/test/math_util.c b/test/math_util.c index e563d8dd02..3296e8da07 100644 --- a/test/math_util.c +++ b/test/math_util.c @@ -45,11 +45,45 @@ static int test_acos(void) return EC_SUCCESS; } + +const matrix_3x3_t test_matrices[] = { + {{ 0, FLOAT_TO_FP(-1), 0}, + {FLOAT_TO_FP(-1), 0, 0}, + { 0, 0, FLOAT_TO_FP(1)} }, + {{ FLOAT_TO_FP(1), 0, FLOAT_TO_FP(5)}, + { FLOAT_TO_FP(2), FLOAT_TO_FP(1), FLOAT_TO_FP(6)}, + { FLOAT_TO_FP(3), FLOAT_TO_FP(4), 0} } +}; + + +static int test_rotate(void) +{ + int i, j, k; + vector_3_t v = {1, 2, 3}; + vector_3_t w; + + for (i = 0; i < ARRAY_SIZE(test_matrices); i++) { + for (j = 0; j < 100; j += 10) { + for (k = X; k <= Z; k++) { + v[k] += j; + v[k] %= 7; + } + + rotate(v, test_matrices[i], w); + rotate_inv(w, test_matrices[i], w); + for (k = X; k <= Z; k++) + TEST_ASSERT(v[k] == w[k]); + } + } + return EC_SUCCESS; +} + void run_test(void) { test_reset(); RUN_TEST(test_acos); + RUN_TEST(test_rotate); test_print_result(); } diff --git a/test/motion_lid.c b/test/motion_lid.c index 18c4f64f33..d204ec4ab0 100644 --- a/test/motion_lid.c +++ b/test/motion_lid.c @@ -40,10 +40,7 @@ static int accel_init(const struct motion_sensor_t *s) static int accel_read(const struct motion_sensor_t *s, vector_3_t v) { - if (*s->rot_standard_ref != NULL) - rotate(s->xyz, *s->rot_standard_ref, v); - else if (s->xyz != v) - memcpy(v, s->xyz, sizeof(v)); + rotate(s->xyz, *s->rot_standard_ref, v); return EC_SUCCESS; } |