From d1002e798ec91e9c570f11613f80e73f381123ae Mon Sep 17 00:00:00 2001
From: Gwendal Grignou <gwendal@chromium.org>
Date: Tue, 21 Jul 2015 15:01:05 -0700
Subject: [PATCH] common: Untie math_util from motion sense.

math library can be set independentely.
It is implied when motion sensor drivers are compiled in.

BRANCH=smaug
TEST=Build strago board specific tests, host test and ran
ryu image.
BUG=chromium:512329

Change-Id: I743ea7b44e4a3783602c11f3928cb3fa4b105ec4
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/287371
Reviewed-by: Vincent Palatin <vpalatin@chromium.org>
---
 common/build.mk            | 8 ++++++--
 driver/accel_kxcj9.c       | 1 +
 driver/accelgyro_bmi160.c  | 1 +
 driver/accelgyro_lsm6ds0.c | 1 +
 include/config.h           | 5 +++--
 test/math_util.tasklist    | 3 +--
 test/test_config.h         | 4 ++++
 7 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/common/build.mk b/common/build.mk
index 4d90347608..32012e400c 100644
--- a/common/build.mk
+++ b/common/build.mk
@@ -9,6 +9,9 @@
 common-y=util.o
 common-y+=version.o printf.o queue.o queue_policies.o
 
+common-$(CONFIG_ACCELGYRO_BMI160)+=math_util.o
+common-$(CONFIG_ACCELGYRO_LSM6DS0)+=math_util.o
+common-$(CONFIG_ACCEL_KXCJ9)+=math_util.o
 common-$(CONFIG_ADC)+=adc.o
 common-$(CONFIG_ALS)+=als.o
 common-$(CONFIG_AP_HANG_DETECT)+=ap_hang_detect.o
@@ -56,7 +59,7 @@ common-$(CONFIG_KEYBOARD_PROTOCOL_MKBP)+=keyboard_mkbp.o
 common-$(CONFIG_KEYBOARD_TEST)+=keyboard_test.o
 common-$(CONFIG_LED_COMMON)+=led_common.o
 common-$(CONFIG_LED_POLICY_STD)+=led_policy_std.o
-common-$(CONFIG_LID_ANGLE)+=motion_lid.o
+common-$(CONFIG_LID_ANGLE)+=motion_lid.o math_util.o
 common-$(CONFIG_LID_ANGLE_KEY_SCAN)+=lid_angle.o
 common-$(CONFIG_LID_SWITCH)+=lid_switch.o
 common-$(CONFIG_LPC)+=acpi.o port80.o
@@ -69,6 +72,7 @@ common-$(CONFIG_PWM)+=pwm.o
 common-$(CONFIG_PWM_KBLIGHT)+=pwm_kblight.o
 common-$(CONFIG_RSA)+=rsa.o
 common-$(CONFIG_RWSIG)+=rwsig.o
+common-$(CONFIG_MATH_UTIL)+=math_util.o
 common-$(CONFIG_SHA1)+=sha1.o
 common-$(CONFIG_SHA256)+=sha256.o
 common-$(CONFIG_SMBUS)+= smbus.o
@@ -93,5 +97,5 @@ common-$(HAS_TASK_HOSTCMD)+=host_command.o
 common-$(HAS_TASK_PDCMD)+=host_command_pd.o
 common-$(HAS_TASK_KEYSCAN)+=keyboard_scan.o
 common-$(HAS_TASK_LIGHTBAR)+=lb_common.o lightbar.o
-common-$(HAS_TASK_MOTIONSENSE)+=motion_sense.o math_util.o
+common-$(HAS_TASK_MOTIONSENSE)+=motion_sense.o
 common-$(TEST_BUILD)+=test_util.o
diff --git a/driver/accel_kxcj9.c b/driver/accel_kxcj9.c
index a9bc5a0964..292b43f3fc 100644
--- a/driver/accel_kxcj9.c
+++ b/driver/accel_kxcj9.c
@@ -11,6 +11,7 @@
 #include "driver/accel_kxcj9.h"
 #include "gpio.h"
 #include "i2c.h"
+#include "math_util.h"
 #include "task.h"
 #include "timer.h"
 #include "util.h"
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index b07d4f3851..10e4905fa9 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -15,6 +15,7 @@
 #include "driver/mag_bmm150.h"
 #include "hooks.h"
 #include "i2c.h"
+#include "math_util.h"
 #include "task.h"
 #include "timer.h"
 #include "util.h"
diff --git a/driver/accelgyro_lsm6ds0.c b/driver/accelgyro_lsm6ds0.c
index ebf3a7f1b5..ebd9bd745e 100644
--- a/driver/accelgyro_lsm6ds0.c
+++ b/driver/accelgyro_lsm6ds0.c
@@ -14,6 +14,7 @@
 #include "driver/accelgyro_lsm6ds0.h"
 #include "hooks.h"
 #include "i2c.h"
+#include "math_util.h"
 #include "task.h"
 #include "util.h"
 
diff --git a/include/config.h b/include/config.h
index a268f5d3ae..6043769986 100644
--- a/include/config.h
+++ b/include/config.h
@@ -1137,6 +1137,9 @@
 /* Use Link-Time Optimizations to try to reduce the firmware code size */
 #undef CONFIG_LTO
 
+/* Need for a math library */
+#undef CONFIG_MATH_UTIL
+
 /* Presence of a Bosh Sensortec BMM150 magnetometer behind a BMI160. */
 #undef CONFIG_MAG_BMI160_BMM150
 
@@ -1823,8 +1826,6 @@
  */
 #include "test_config.h"
 
-
-/*****************************************************************************/
 /*
  * Sanity checks to make sure some of the configs above make sense.
  */
diff --git a/test/math_util.tasklist b/test/math_util.tasklist
index 60688f9c34..f6dffa16e8 100644
--- a/test/math_util.tasklist
+++ b/test/math_util.tasklist
@@ -14,5 +14,4 @@
  * 'd' in an opaque parameter passed to the routine at startup
  * 's' is the stack size in bytes; must be a multiple of 8
  */
-#define CONFIG_TEST_TASK_LIST  \
-  TASK_TEST(MOTIONSENSE, motion_sense_task, NULL, TASK_STACK_SIZE)
+#define CONFIG_TEST_TASK_LIST  /* No test task */
diff --git a/test/test_config.h b/test/test_config.h
index 637c9630b3..bc517314b6 100644
--- a/test/test_config.h
+++ b/test/test_config.h
@@ -35,6 +35,10 @@
 #define CONFIG_KEYBOARD_PROTOCOL_MKBP
 #endif
 
+#ifdef TEST_MATH_UTIL
+#define CONFIG_MATH_UTIL
+#endif
+
 #ifdef TEST_MOTION_LID
 #define CONFIG_LID_ANGLE
 #define CONFIG_LID_ANGLE_SENSOR_BASE 0