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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 /include/mat44.h | |
| 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 'include/mat44.h')
| -rw-r--r-- | include/mat44.h | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/include/mat44.h b/include/mat44.h index d8a8209055..2faa093c8e 100644 --- a/include/mat44.h +++ b/include/mat44.h @@ -8,17 +8,18 @@ #define __CROS_EC_MAT_44_H -#include "vec4.h" +#include "math_util.h" #include "util.h" +#include "vec4.h" typedef float mat44_float_t[4][4]; +typedef fp_t mat44_fp_t[4][4]; typedef size_t sizev4_t[4]; -void mat44_float_decompose_lup(mat44_float_t LU, sizev4_t pivot); - -void mat44_float_swap_rows(mat44_float_t A, const size_t i, const size_t j); +void mat44_fp_decompose_lup(mat44_fp_t LU, sizev4_t pivot); -void mat44_float_solve(mat44_float_t A, floatv4_t x, const floatv4_t b, - const sizev4_t pivot); +void mat44_fp_swap_rows(mat44_fp_t A, const size_t i, const size_t j); +void mat44_fp_solve(mat44_fp_t A, fpv4_t x, const fpv4_t b, + const sizev4_t pivot); #endif /* __CROS_EC_MAT_44_H */ |