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| author | Yilun Lin <yllin@google.com> | 2018-10-04 10:19:57 +0800 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2018-10-04 12:55:53 -0700 |
| commit | 315aaca9467f49bc432ef5f2de9c0e3bb56f0251 (patch) | |
| tree | 3ea739aca1db340e93b9daee7958d5afc5c9f31f /common/vec3.c | |
| parent | ece03ab4d09b157c5e6f3c4fe0446678c0d8684b (diff) | |
| download | chrome-ec-315aaca9467f49bc432ef5f2de9c0e3bb56f0251.tar.gz | |
mag_cal: Support fixed-point calculation.
Modified from floating point version. This includes changes to
vec3, vec4, mat33, mat44, and mag_cal.
Now fixed-point type (fp_*) functions is a function wrapper for both
fixed-point and floating point version operations:
* define CONFIG_FPU to use floating version mag_cal
* undef CONFIG_FPU to use fixed-point version mag_cal
Also, add tests for both float and fp types operations.
TEST=define CONFIG_FPU; flash on reef; See ARC++ magnetmeter app moving.
TEST=undef CONFIG_FPU; flash on reef; See ARC++ magnetmeter app moving.
TEST=make runtests -j
TEST=make buildalltests -j
BUG=b:113364863
BRANCH=None
Change-Id: Ie695945acb666912babb2a603e09c602a0624d44
Signed-off-by: Yilun Lin <yllin@google.com>
Reviewed-on: https://chromium-review.googlesource.com/1260704
Commit-Ready: Yilun Lin <yllin@chromium.org>
Tested-by: Yilun Lin <yllin@chromium.org>
Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>
Diffstat (limited to 'common/vec3.c')
| -rw-r--r-- | common/vec3.c | 21 |
1 files changed, 10 insertions, 11 deletions
diff --git a/common/vec3.c b/common/vec3.c index 4c157467c1..9a3561365a 100644 --- a/common/vec3.c +++ b/common/vec3.c @@ -9,25 +9,24 @@ #include "vec3.h" #include "util.h" -void floatv3_scalar_mul(floatv3_t v, float c) +void fpv3_scalar_mul(fpv3_t v, fp_t c) { - v[X] *= c; - v[Y] *= c; - v[Z] *= c; + v[X] = fp_mul(v[X], c); + v[Y] = fp_mul(v[Y], c); + v[Z] = fp_mul(v[Z], c); } -float floatv3_dot(const floatv3_t v, const floatv3_t w) +fp_t fpv3_dot(const fpv3_t v, const fpv3_t w) { - return v[X] * w[X] + v[Y] * w[Y] + v[Z] * w[Z]; + return fp_mul(v[X], w[X]) + fp_mul(v[Y], w[Y]) + fp_mul(v[Z], w[Z]); } -float floatv3_norm_squared(const floatv3_t v) +fp_t fpv3_norm_squared(const fpv3_t v) { - return floatv3_dot(v, v); + return fpv3_dot(v, v); } -float floatv3_norm(const floatv3_t v) +fp_t fpv3_norm(const fpv3_t v) { - return sqrtf(floatv3_norm_squared(v)); + return fp_sqrtf(fpv3_norm_squared(v)); } - |