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| author | Hyungwoo Yang <hyungwoo.yang@intel.corp-partner.google.com> | 2021-03-19 15:25:05 -0700 |
|---|---|---|
| committer | Commit Bot <commit-bot@chromium.org> | 2021-03-23 23:13:18 +0000 |
| commit | 52c66f7e5f5faf5d96625fe95c53a88b1f5c801c (patch) | |
| tree | a860d2e5de70bf987eeaa37acf18c7f6bf84231a /zephyr/shim/src/motionsense_sensors.c | |
| parent | 9ab043078548fd30c010b7c3d5dd394e29096491 (diff) | |
| download | chrome-ec-52c66f7e5f5faf5d96625fe95c53a88b1f5c801c.tar.gz | |
zephyr: DT: support sensor rotation matrix
This creates instances of rotation matrix(mat33_fp_t)
which is used to convert raw value from a sensor to X, Y and
Z on the defined coordinate system.
BUG=b:173507858
BRANCH=none
TEST=make buildall -j8
build volteer on zephyr
Signed-off-by: Hyungwoo Yang <hyungwoo.yang@intel.corp-partner.google.com>
Change-Id: Ifc80fe7ff33c46904af279b9f52e611c7157c346
Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/2778814
Reviewed-by: Simon Glass <sjg@chromium.org>
Diffstat (limited to 'zephyr/shim/src/motionsense_sensors.c')
| -rw-r--r-- | zephyr/shim/src/motionsense_sensors.c | 26 |
1 files changed, 26 insertions, 0 deletions
diff --git a/zephyr/shim/src/motionsense_sensors.c b/zephyr/shim/src/motionsense_sensors.c index 681ebcce6b..9e8eef6f6f 100644 --- a/zephyr/shim/src/motionsense_sensors.c +++ b/zephyr/shim/src/motionsense_sensors.c @@ -31,3 +31,29 @@ static int init_sensor_mutex(const struct device *dev) } SYS_INIT(init_sensor_mutex, POST_KERNEL, 50); #endif /* DT_NODE_EXISTS(SENSOR_MUTEX_NODE) */ + +#define SENSOR_ROT_REF_NODE DT_PATH(motionsense_rotation_ref) +#define SENSOR_ROT_STD_REF_NAME(id) DT_CAT(ROT_REF_, id) +#define MAT_ITEM(i, id) FLOAT_TO_FP((int32_t)(DT_PROP_BY_IDX(id, mat33, i))) +#define DECLARE_SENSOR_ROT_REF(id) \ + static const mat33_fp_t SENSOR_ROT_STD_REF_NAME(id) = { \ + { \ + FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 0, 1, 2) \ + }, \ + { \ + FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 3, 4, 5) \ + }, \ + { \ + FOR_EACH_FIXED_ARG(MAT_ITEM, (,), id, 6, 7, 8) \ + }, \ + }; + +/* + * Declare 3x3 rotation matrix for + * each child node of "/motionsense-rotation-ref" node in DT. + * + * A rotation matrix can be shared among the motion sensors. + */ +#if DT_NODE_EXISTS(SENSOR_ROT_REF_NODE) +DT_FOREACH_CHILD(SENSOR_ROT_REF_NODE, DECLARE_SENSOR_ROT_REF) +#endif |