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828b55a735
Code for hard iron calibration: Every seconds (or faster if enough samples), find a sphere that fit the compass data. Based on Android code. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=Check hard-iron bias is removed. Works better outside. Change-Id: Iab479d5113b6560b4f01b0fd87373d2eecdb9b54 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299583 Reviewed-by: Anton Staaf <robotboy@chromium.org>
31 lines
760 B
C
31 lines
760 B
C
/* Copyright 2015 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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#ifndef __CROS_EC_MAT_33_H
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#define __CROS_EC_MAT_33_H
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#include "vec3.h"
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#include "util.h"
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typedef float mat33_t[3][3];
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typedef size_t size3_t[3];
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void init_zero_matrix(mat33_t A);
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void init_diagonal_matrix(mat33_t A, float x);
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void mat33_scalar_mul(mat33_t A, float c);
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void mat33_swap_rows(mat33_t A, const size_t i, const size_t j);
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void mat33_get_eigenbasis(mat33_t S, vec3_t eigenvals, mat33_t eigenvecs);
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size_t mat33_maxind(mat33_t A, size_t k);
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void mat33_rotate(mat33_t A, float c, float s,
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size_t k, size_t l, size_t i, size_t j);
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#endif /* __CROS_EC_MAT_33_H */
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