[common]: Remove accelerator calibration code.

This code is used to find the orientation of the sensor.
Given sensor are aligned with the edges of the device,
it is not too dificult to find manually.

BRANCH=ToT
BUG=None
TEST=Check ACCEL_CALIBRATE is not used anymore.
Check 'make buildall -j' works.

Change-Id: I81ffcb4f6b01c530ef16baf13113a5942f615092
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/219527
Reviewed-by: Alec Berg <alecaberg@chromium.org>

1 files changed, 0 insertions, 92 deletions

diff --git a/common/math_util.c b/common/math_util.c
index 56acec16dc..83bfc6cdfb 100644
--- a/common/math_util.c
+++ b/common/math_util.c
@@ -110,95 +110,3 @@ void rotate(const vector_3_t v, const matrix_3x3_t R,
 			t[2] * R[2][2];
 }
 
-#ifdef CONFIG_ACCEL_CALIBRATE
-
-void matrix_multiply(matrix_3x3_t *m1, matrix_3x3_t *m2, matrix_3x3_t *res)
-{
-	(*res)[0][0] = (*m1)[0][0] * (*m2)[0][0] + (*m1)[0][1] * (*m2)[1][0] +
-			(*m1)[0][2] * (*m2)[2][0];
-	(*res)[0][1] = (*m1)[0][0] * (*m2)[0][1] + (*m1)[0][1] * (*m2)[1][1] +
-				(*m1)[0][2] * (*m2)[2][1];
-	(*res)[0][2] = (*m1)[0][0] * (*m2)[0][2] + (*m1)[0][1] * (*m2)[1][2] +
-				(*m1)[0][2] * (*m2)[2][2];
-
-	(*res)[1][0] = (*m1)[1][0] * (*m2)[0][0] + (*m1)[1][1] * (*m2)[1][0] +
-				(*m1)[1][2] * (*m2)[2][0];
-	(*res)[1][1] = (*m1)[1][0] * (*m2)[0][1] + (*m1)[1][1] * (*m2)[1][1] +
-				(*m1)[1][2] * (*m2)[2][1];
-	(*res)[1][2] = (*m1)[1][0] * (*m2)[0][2] + (*m1)[1][1] * (*m2)[1][2] +
-				(*m1)[1][2] * (*m2)[2][2];
-
-	(*res)[2][0] = (*m1)[2][0] * (*m2)[0][0] + (*m1)[2][1] * (*m2)[1][0] +
-				(*m1)[2][2] * (*m2)[2][0];
-	(*res)[2][1] = (*m1)[2][0] * (*m2)[0][1] + (*m1)[2][1] * (*m2)[1][1] +
-				(*m1)[2][2] * (*m2)[2][1];
-	(*res)[2][2] = (*m1)[2][0] * (*m2)[0][2] + (*m1)[2][1] * (*m2)[1][2] +
-				(*m1)[2][2] * (*m2)[2][2];
-}
-
-/**
- * Find determinant of matrix.
- *
- * @param m Pointer to matrix to take determinant of.
- *
- * @return Determinant of matrix m.
- */
-static float matrix_determinant(matrix_3x3_t *m)
-{
-		return  (*m)[0][0]*(*m)[1][1]*(*m)[2][2] +
-			(*m)[1][0]*(*m)[2][1]*(*m)[0][2] +
-			(*m)[2][0]*(*m)[0][1]*(*m)[1][2] -
-			(*m)[0][0]*(*m)[2][1]*(*m)[1][2] -
-			(*m)[2][0]*(*m)[1][1]*(*m)[0][2] -
-			(*m)[1][0]*(*m)[0][1]*(*m)[2][2];
-}
-
-/**
- * Find inverse of matrix.
- *
- * @param m Pointer to matrix to invert.
- * @param res Pointer to resultant matrix.
- */
-static int matrix_inverse(matrix_3x3_t *m, matrix_3x3_t *res)
-{
-	float det = matrix_determinant(m);
-
-	/*
-	 * If determinant is too close to zero, then input is not linearly
-	 * independent enough, return an error.
-	 */
-	if (ABS(det) < 1e7)
-		return EC_ERROR_UNKNOWN;
-
-	/* Find inverse of input matrix. */
-	(*res)[0][0] = ((*m)[1][1]*(*m)[2][2] - (*m)[1][2]*(*m)[2][1]) / det;
-	(*res)[0][1] = ((*m)[0][2]*(*m)[2][1] - (*m)[0][1]*(*m)[2][2]) / det;
-	(*res)[0][2] = ((*m)[0][1]*(*m)[1][2] - (*m)[0][2]*(*m)[1][1]) / det;
-
-	(*res)[1][0] = ((*m)[1][2]*(*m)[2][0] - (*m)[1][0]*(*m)[2][2]) / det;
-	(*res)[1][1] = ((*m)[0][0]*(*m)[2][2] - (*m)[0][2]*(*m)[2][0]) / det;
-	(*res)[1][2] = ((*m)[0][2]*(*m)[1][0] - (*m)[0][0]*(*m)[1][2]) / det;
-
-	(*res)[2][0] = ((*m)[1][0]*(*m)[2][1] - (*m)[1][1]*(*m)[2][0]) / det;
-	(*res)[2][1] = ((*m)[0][1]*(*m)[2][0] - (*m)[0][0]*(*m)[2][1]) / det;
-	(*res)[2][2] = ((*m)[0][0]*(*m)[1][1] - (*m)[0][1]*(*m)[1][0]) / det;
-
-	return EC_SUCCESS;
-}
-
-int solve_rotation_matrix(matrix_3x3_t *in, matrix_3x3_t *out, matrix_3x3_t *R)
-{
-	static matrix_3x3_t i;
-	int ret;
-
-	/* Calculate inverse of input matrix. */
-	ret = matrix_inverse(in, &i);
-	if (ret != EC_SUCCESS)
-		return ret;
-
-	/* Multiply inverse of in matrix by out matrix and store into R. */
-	matrix_multiply(&i, out, R);
-
-	return EC_SUCCESS;
-}
-#endif /* CONFIG_ACCEL_CALIBRATE */