diff options
author | Gwendal Grignou <gwendal@chromium.org> | 2015-09-11 12:02:26 -0700 |
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committer | chrome-bot <chrome-bot@chromium.org> | 2015-10-13 05:28:54 -0700 |
commit | 828b55a7358ad5ec8bc27552bfb280eb173dd453 (patch) | |
tree | b9430d2bf624ee2b6976eed211696b50ae56decb /include/mat33.h | |
parent | 0647f66f81de880af603a7fb70f57159519782ac (diff) | |
download | chrome-ec-828b55a7358ad5ec8bc27552bfb280eb173dd453.tar.gz |
common: Add magnetometer online calibration.
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>
Diffstat (limited to 'include/mat33.h')
-rw-r--r-- | include/mat33.h | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/include/mat33.h b/include/mat33.h new file mode 100644 index 0000000000..de7debbbc1 --- /dev/null +++ b/include/mat33.h @@ -0,0 +1,30 @@ +/* Copyright 2015 The Chromium OS Authors. All rights reserved. + * Use of this source code is governed by a BSD-style license that can be + * found in the LICENSE file. + */ + +#ifndef __CROS_EC_MAT_33_H + +#define __CROS_EC_MAT_33_H + +#include "vec3.h" +#include "util.h" + +typedef float mat33_t[3][3]; +typedef size_t size3_t[3]; + +void init_zero_matrix(mat33_t A); +void init_diagonal_matrix(mat33_t A, float x); + +void mat33_scalar_mul(mat33_t A, float c); + +void mat33_swap_rows(mat33_t A, const size_t i, const size_t j); + +void mat33_get_eigenbasis(mat33_t S, vec3_t eigenvals, mat33_t eigenvecs); + +size_t mat33_maxind(mat33_t A, size_t k); + +void mat33_rotate(mat33_t A, float c, float s, + size_t k, size_t l, size_t i, size_t j); + +#endif /* __CROS_EC_MAT_33_H */ |