mirror of
https://github.com/Telecominfraproject/OpenCellular.git
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7d40063d46
Changed motion_sense task to assume sensors are unpowered in G3 and re-initialize sensors every time coming out of G3. Added EC command line test utils as well. Fixed some bug during unit tests. BUG=chrome-os-partner:27313,27320 BRANCH=ToT TEST=Verified on Samus. Tested with accel EC CLIs accelread, accelrange, accelrate, accelres Tested accelcalib, a ACCEL calibration util, and it succeeded. Tested sysfs interface: cd /sys/bus/iio/devices/iio:device1 cat in_accel_*_gyro_raw Signed-off-by: Sheng-Liang Song <ssl@chromium.org> Change-Id: I5752b00c03e1942c790ea4f28610fda83fa2dcbc Reviewed-on: https://chromium-review.googlesource.com/211484 Reviewed-by: Alec Berg <alecaberg@chromium.org>
94 lines
2.1 KiB
C
94 lines
2.1 KiB
C
/* Copyright (c) 2014 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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/* Header file for common math functions. */
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#ifndef __CROS_MATH_UTIL_H
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#define __CROS_MATH_UTIL_H
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typedef float matrix_3x3_t[3][3];
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typedef int vector_3_t[3];
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/* Some useful math functions. */
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#define SQ(x) ((x) * (x))
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#define ABS(x) ((x) >= 0 ? (x) : -(x))
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/**
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* Find acos(x) in degrees. Argument is clipped to [-1.0, 1.0].
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*
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* @param x
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*
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* @return acos(x) in degrees.
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*/
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float arc_cos(float x);
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/**
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* Find the cosine of the angle between two vectors.
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*
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* @param v1
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* @param v2
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*
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* @return Cosine of the angle between v1 and v2.
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*/
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float cosine_of_angle_diff(const vector_3_t v1, const vector_3_t v2);
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/**
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* Rotate vector v by rotation matrix R.
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*
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* @param v Vector to be rotated.
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* @param R Rotation matrix.
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* @param res Resultant vector.
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*/
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void rotate(const vector_3_t v, const matrix_3x3_t R,
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vector_3_t res);
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#ifdef CONFIG_ACCEL_CALIBRATE
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/**
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* Multiply two 3x3 matrices.
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*
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* @param m1
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* @param m2
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* @param res Pointer to resultant matrix R = a1*a2;
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*/
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void matrix_multiply(matrix_3x3_t *m1, matrix_3x3_t *m2, matrix_3x3_t *res);
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/**
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* Given an input matrix and an output matrix, solve for the rotation
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* matrix to get from the input matrix to the output matrix. Note, that this
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* operation is not guaranteed. In order to successfully calculate the rotation
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* matrix, the input must be linearly independent so that the matrix can be
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* inverted.
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*
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* This function solves the following matrix equation for R:
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* in * R = out
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*
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* If input matrix is invertible the resulting rotation matrix is stored in R.
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*
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* @param in
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* @param out
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* @param R Pointer to resultant matrix.
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*
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* @return EC_SUCCESS if successful
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*/
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int solve_rotation_matrix(matrix_3x3_t *in, matrix_3x3_t *out, matrix_3x3_t *R);
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/**
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* Calculate magnitude of a vector.
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*
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* @param v Vector to be measured.
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*
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* @return Magnitued of vector v.
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*/
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int vector_magnitude(const vector_3_t v);
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#endif
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#endif /* __CROS_MATH_UTIL_H */
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