diff options
| -rw-r--r-- | baseboard/grunt/baseboard.c | 10 | ||||
| -rw-r--r-- | baseboard/grunt/baseboard.h | 2 | ||||
| -rw-r--r-- | board/atlas/board.c | 2 | ||||
| -rw-r--r-- | board/bobba/board.c | 2 | ||||
| -rw-r--r-- | board/cheza/board.c | 2 | ||||
| -rw-r--r-- | board/coral/board.c | 4 | ||||
| -rw-r--r-- | board/elm/board.c | 4 | ||||
| -rw-r--r-- | board/eve/board.c | 4 | ||||
| -rw-r--r-- | board/fleex/board.c | 4 | ||||
| -rw-r--r-- | board/kukui/board.c | 2 | ||||
| -rw-r--r-- | board/meep/board.c | 2 | ||||
| -rw-r--r-- | board/nami/board.c | 6 | ||||
| -rw-r--r-- | board/nautilus/board.c | 4 | ||||
| -rw-r--r-- | board/nocturne/board.c | 2 | ||||
| -rw-r--r-- | board/oak/board.c | 2 | ||||
| -rw-r--r-- | board/phaser/board.c | 2 | ||||
| -rw-r--r-- | board/poppy/board.c | 8 | ||||
| -rw-r--r-- | board/rainier/board.c | 2 | ||||
| -rw-r--r-- | board/rammus/board.c | 4 | ||||
| -rw-r--r-- | board/reef/board.c | 4 | ||||
| -rw-r--r-- | board/reef_mchp/board.c | 4 | ||||
| -rw-r--r-- | board/rowan/board.c | 2 | ||||
| -rw-r--r-- | board/samus/board.c | 4 | ||||
| -rw-r--r-- | board/scarlet/board.c | 2 | ||||
| -rw-r--r-- | board/strago/board.c | 4 | ||||
| -rw-r--r-- | board/yorp/board.c | 2 | ||||
| -rw-r--r-- | common/math_util.c | 4 | ||||
| -rw-r--r-- | include/math_util.h | 6 | ||||
| -rw-r--r-- | include/motion_lid.h | 4 | ||||
| -rw-r--r-- | include/motion_sense.h | 2 | ||||
| -rw-r--r-- | test/math_util.c | 2 |
31 files changed, 54 insertions, 54 deletions
diff --git a/baseboard/grunt/baseboard.c b/baseboard/grunt/baseboard.c index c70a142840..8b37381f12 100644 --- a/baseboard/grunt/baseboard.c +++ b/baseboard/grunt/baseboard.c @@ -340,13 +340,13 @@ BUILD_ASSERT(ARRAY_SIZE(temp_sensors) == TEMP_SENSOR_COUNT); static struct mutex g_lid_mutex; static struct mutex g_base_mutex; -matrix_3x3_t grunt_base_standard_ref = { +mat33_fp_t grunt_base_standard_ref = { { FLOAT_TO_FP(1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(1)} }; -matrix_3x3_t lid_standard_ref = { +mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(1)} @@ -369,7 +369,7 @@ struct motion_sensor_t motion_sensors[] = { .drv_data = &g_kx022_data, .port = I2C_PORT_SENSOR, .addr = KX022_ADDR1, - .rot_standard_ref = (const matrix_3x3_t *)&lid_standard_ref, + .rot_standard_ref = (const mat33_fp_t *)&lid_standard_ref, .default_range = 2, /* g, enough for laptop. */ .min_frequency = KX022_ACCEL_MIN_FREQ, .max_frequency = KX022_ACCEL_MAX_FREQ, @@ -393,7 +393,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, .default_range = 2, /* g, enough for laptop */ - .rot_standard_ref = (const matrix_3x3_t *)&grunt_base_standard_ref, + .rot_standard_ref = (const mat33_fp_t *)&grunt_base_standard_ref, .min_frequency = BMI160_ACCEL_MIN_FREQ, .max_frequency = BMI160_ACCEL_MAX_FREQ, .config = { @@ -421,7 +421,7 @@ struct motion_sensor_t motion_sensors[] = { .port = I2C_PORT_SENSOR, .addr = BMI160_ADDR0, .default_range = 1000, /* dps */ - .rot_standard_ref = (const matrix_3x3_t *)&grunt_base_standard_ref, + .rot_standard_ref = (const mat33_fp_t *)&grunt_base_standard_ref, .min_frequency = BMI160_GYRO_MIN_FREQ, .max_frequency = BMI160_GYRO_MAX_FREQ, }, diff --git a/baseboard/grunt/baseboard.h b/baseboard/grunt/baseboard.h index 0a3bce9824..8eef4fc998 100644 --- a/baseboard/grunt/baseboard.h +++ b/baseboard/grunt/baseboard.h @@ -252,7 +252,7 @@ enum sensor_id { * Boards within the Grunt family may need to modify this definition at * board_init() time. */ -extern matrix_3x3_t grunt_base_standard_ref; +extern mat33_fp_t grunt_base_standard_ref; /* Sensors without hardware FIFO are in forced mode */ #define CONFIG_ACCEL_FORCE_MODE_MASK (1 << LID_ACCEL) diff --git a/board/atlas/board.c b/board/atlas/board.c index 09cb8c3a25..6e403bfd8f 100644 --- a/board/atlas/board.c +++ b/board/atlas/board.c @@ -577,7 +577,7 @@ static struct opt3001_drv_data_t g_opt3001_data = { }; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} diff --git a/board/bobba/board.c b/board/bobba/board.c index 9b0bc42ebf..9245f71821 100644 --- a/board/bobba/board.c +++ b/board/bobba/board.c @@ -117,7 +117,7 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/cheza/board.c b/board/cheza/board.c index c514a0875e..3e176736fd 100644 --- a/board/cheza/board.c +++ b/board/cheza/board.c @@ -474,7 +474,7 @@ static struct mutex g_lid_mutex; static struct bmi160_drv_data_t g_bmi160_data; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/coral/board.c b/board/coral/board.c index 2cf54638e5..e651561e11 100644 --- a/board/coral/board.c +++ b/board/coral/board.c @@ -710,13 +710,13 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }; -const matrix_3x3_t mag_standard_ref = { +const mat33_fp_t mag_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} diff --git a/board/elm/board.c b/board/elm/board.c index 7ebf20225b..67a60d1aed 100644 --- a/board/elm/board.c +++ b/board/elm/board.c @@ -438,13 +438,13 @@ DECLARE_HOOK(HOOK_CHIPSET_SUSPEND, board_chipset_suspend, HOOK_PRIO_DEFAULT); static struct mutex g_kx022_mutex[2]; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(-1)} diff --git a/board/eve/board.c b/board/eve/board.c index 30089a3321..9943d4688b 100644 --- a/board/eve/board.c +++ b/board/eve/board.c @@ -786,13 +786,13 @@ static struct si114x_drv_data_t g_si114x_data = { }; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t mag_standard_ref = { +const mat33_fp_t mag_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { {FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/fleex/board.c b/board/fleex/board.c index 220c031c95..d9227928b7 100644 --- a/board/fleex/board.c +++ b/board/fleex/board.c @@ -115,13 +115,13 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, { FLOAT_TO_FP(-1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }; - const matrix_3x3_t base_standard_ref = { + const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/kukui/board.c b/board/kukui/board.c index 5509aee78a..5d610c83a4 100644 --- a/board/kukui/board.c +++ b/board/kukui/board.c @@ -353,7 +353,7 @@ static struct mutex g_base_mutex; static struct bmi160_drv_data_t g_bmi160_data; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/meep/board.c b/board/meep/board.c index 83fe05a50f..725e8b186b 100644 --- a/board/meep/board.c +++ b/board/meep/board.c @@ -122,7 +122,7 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/nami/board.c b/board/nami/board.c index 76edea3f73..cb5efe7bf6 100644 --- a/board/nami/board.c +++ b/board/nami/board.c @@ -683,19 +683,19 @@ static struct kionix_accel_data g_kx022_data; static struct accelgyro_saved_data_t g_bma255_data; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }; -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; -const matrix_3x3_t rotation_x180_z90 = { +const mat33_fp_t rotation_x180_z90 = { { 0, FLOAT_TO_FP(-1), 0 }, { FLOAT_TO_FP(-1), 0, 0 }, { 0, 0, FLOAT_TO_FP(-1) } diff --git a/board/nautilus/board.c b/board/nautilus/board.c index 39d46283e5..e765064bf6 100644 --- a/board/nautilus/board.c +++ b/board/nautilus/board.c @@ -621,13 +621,13 @@ static struct bmi160_drv_data_t g_bmi160_data; static struct accelgyro_saved_data_t g_bma255_data; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 }, { 0, FLOAT_TO_FP(1), 0 }, { 0, 0, FLOAT_TO_FP(-1) } }; -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 }, { 0, FLOAT_TO_FP(1), 0 }, { 0, 0, FLOAT_TO_FP(-1) } diff --git a/board/nocturne/board.c b/board/nocturne/board.c index 4afb2fb581..fd61390cc1 100644 --- a/board/nocturne/board.c +++ b/board/nocturne/board.c @@ -159,7 +159,7 @@ static struct opt3001_drv_data_t g_opt3001_data = { }; /* Matrix to rotate accel/gyro into standard reference frame. */ -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, { FLOAT_TO_FP(-1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/oak/board.c b/board/oak/board.c index ae5fbbbb2e..4fd49330d1 100644 --- a/board/oak/board.c +++ b/board/oak/board.c @@ -606,7 +606,7 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/phaser/board.c b/board/phaser/board.c index b529f83787..d66c0236ac 100644 --- a/board/phaser/board.c +++ b/board/phaser/board.c @@ -101,7 +101,7 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate lid and base sensor into standard reference frame */ -const matrix_3x3_t standard_rot_ref = { +const mat33_fp_t standard_rot_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/poppy/board.c b/board/poppy/board.c index e20685e40f..61b990b7a2 100644 --- a/board/poppy/board.c +++ b/board/poppy/board.c @@ -746,27 +746,27 @@ static struct opt3001_drv_data_t g_opt3001_data = { }; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t mag_standard_ref = { +const mat33_fp_t mag_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; #ifdef BOARD_SORAKA -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, {FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }; /* For rev3 and older */ -const matrix_3x3_t lid_standard_ref_old = { +const mat33_fp_t lid_standard_ref_old = { {FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} }; #else -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { {FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/rainier/board.c b/board/rainier/board.c index 0b61cd03e1..c3b7fab020 100644 --- a/board/rainier/board.c +++ b/board/rainier/board.c @@ -350,7 +350,7 @@ static struct mutex g_base_mutex; static struct bmi160_drv_data_t g_bmi160_data; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, { FLOAT_TO_FP(-1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/rammus/board.c b/board/rammus/board.c index 7bf268ec69..2b6c528b4a 100644 --- a/board/rammus/board.c +++ b/board/rammus/board.c @@ -563,13 +563,13 @@ static struct bmi160_drv_data_t g_bmi160_data; static struct accelgyro_saved_data_t g_bma255_data; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 }, { 0, FLOAT_TO_FP(1), 0 }, { 0, 0, FLOAT_TO_FP(-1) } }; -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(-1), 0, 0 }, { 0, FLOAT_TO_FP(1), 0 }, { 0, 0, FLOAT_TO_FP(-1) } diff --git a/board/reef/board.c b/board/reef/board.c index d5cbe46099..54766f73b9 100644 --- a/board/reef/board.c +++ b/board/reef/board.c @@ -696,13 +696,13 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }; -const matrix_3x3_t mag_standard_ref = { +const mat33_fp_t mag_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} diff --git a/board/reef_mchp/board.c b/board/reef_mchp/board.c index 81d6134915..91dc329b0c 100644 --- a/board/reef_mchp/board.c +++ b/board/reef_mchp/board.c @@ -962,13 +962,13 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }; -const matrix_3x3_t mag_standard_ref = { +const mat33_fp_t mag_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(1), 0}, { 0, 0, FLOAT_TO_FP(-1)} diff --git a/board/rowan/board.c b/board/rowan/board.c index 8feda44674..15c54b8392 100644 --- a/board/rowan/board.c +++ b/board/rowan/board.c @@ -441,7 +441,7 @@ BUILD_ASSERT(ARRAY_SIZE(als) == ALS_COUNT); static struct mutex g_lid_mutex; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/samus/board.c b/board/samus/board.c index 646d8ded9a..b8f66ca101 100644 --- a/board/samus/board.c +++ b/board/samus/board.c @@ -299,13 +299,13 @@ struct lsm6ds0_data g_saved_data[2]; /* Four Motion sensors */ /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { {FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(-1)} }; -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, {FLOAT_TO_FP(-1), 0, 0}, { 0, 0, FLOAT_TO_FP(-1)} diff --git a/board/scarlet/board.c b/board/scarlet/board.c index 4a785e8655..adfee70cd7 100644 --- a/board/scarlet/board.c +++ b/board/scarlet/board.c @@ -372,7 +372,7 @@ static struct mutex g_base_mutex; static struct bmi160_drv_data_t g_bmi160_data; /* Matrix to rotate accelerometer into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/board/strago/board.c b/board/strago/board.c index 05bd7fda17..7b7304e374 100644 --- a/board/strago/board.c +++ b/board/strago/board.c @@ -183,13 +183,13 @@ static struct mutex g_kxcj9_mutex[2]; struct kionix_accel_data g_kxcj9_data[2]; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(1), 0}, {FLOAT_TO_FP(-1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }; -const matrix_3x3_t lid_standard_ref = { +const mat33_fp_t lid_standard_ref = { {FLOAT_TO_FP(-1), 0, 0}, { 0, FLOAT_TO_FP(-1), 0}, { 0, 0, FLOAT_TO_FP(-1)} diff --git a/board/yorp/board.c b/board/yorp/board.c index 920bcf661b..5cbce8d72f 100644 --- a/board/yorp/board.c +++ b/board/yorp/board.c @@ -98,7 +98,7 @@ static struct mutex g_lid_mutex; static struct mutex g_base_mutex; /* Matrix to rotate accelrator into standard reference frame */ -const matrix_3x3_t base_standard_ref = { +const mat33_fp_t base_standard_ref = { { 0, FLOAT_TO_FP(-1), 0}, { FLOAT_TO_FP(1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} diff --git a/common/math_util.c b/common/math_util.c index 4cdddb1eab..d0b5887199 100644 --- a/common/math_util.c +++ b/common/math_util.c @@ -176,7 +176,7 @@ fp_t cosine_of_angle_diff(const intv3_t v1, const intv3_t v2) * rotate a vector v * - support input v and output res are the same vector */ -void rotate(const intv3_t v, const matrix_3x3_t R, intv3_t res) +void rotate(const intv3_t v, const mat33_fp_t R, intv3_t res) { fp_inter_t t[3]; @@ -204,7 +204,7 @@ void rotate(const intv3_t v, const matrix_3x3_t R, intv3_t res) res[2] = FP_TO_INT(t[2]); } -void rotate_inv(const intv3_t v, const matrix_3x3_t R, intv3_t res) +void rotate_inv(const intv3_t v, const mat33_fp_t R, intv3_t res) { fp_inter_t t[3]; fp_t deter; diff --git a/include/math_util.h b/include/math_util.h index d94084f30d..1bcff13525 100644 --- a/include/math_util.h +++ b/include/math_util.h @@ -96,7 +96,7 @@ static inline fp_t fp_abs(fp_t a) * Note that constant matrices MUST be initialized using FLOAT_TO_FP() * or INT_TO_FP() for all non-zero values. */ -typedef fp_t matrix_3x3_t[3][3]; +typedef fp_t mat33_fp_t[3][3]; /* Integer vector */ typedef int intv3_t[3]; @@ -141,7 +141,7 @@ fp_t cosine_of_angle_diff(const intv3_t v1, const intv3_t v2); * @param R Rotation matrix. * @param res Resultant vector. */ -void rotate(const intv3_t v, const matrix_3x3_t R, intv3_t res); +void rotate(const intv3_t v, const mat33_fp_t R, intv3_t res); /** * Rotate vector v by rotation matrix R^-1. @@ -150,6 +150,6 @@ void rotate(const intv3_t v, const matrix_3x3_t R, intv3_t res); * @param R Rotation matrix. * @param res Resultant vector. */ -void rotate_inv(const intv3_t v, const matrix_3x3_t R, intv3_t res); +void rotate_inv(const intv3_t v, const mat33_fp_t R, intv3_t res); #endif /* __CROS_EC_MATH_UTIL_H */ diff --git a/include/motion_lid.h b/include/motion_lid.h index 6ce299c0e5..110d614811 100644 --- a/include/motion_lid.h +++ b/include/motion_lid.h @@ -17,13 +17,13 @@ */ struct accel_orientation { /* Rotation matrix to rotate positive 90 degrees around the hinge. */ - matrix_3x3_t rot_hinge_90; + mat33_fp_t rot_hinge_90; /* * Rotation matrix to rotate 180 degrees around the hinge. The value * here should be rot_hinge_90 ^ 2. */ - matrix_3x3_t rot_hinge_180; + mat33_fp_t rot_hinge_180; /* Vector pointing along hinge axis. */ intv3_t hinge_axis; diff --git a/include/motion_sense.h b/include/motion_sense.h index bbc82a0f71..a63fc7ae79 100644 --- a/include/motion_sense.h +++ b/include/motion_sense.h @@ -90,7 +90,7 @@ struct motion_sensor_t { */ uint8_t in_spoof_mode; - const matrix_3x3_t *rot_standard_ref; + const mat33_fp_t *rot_standard_ref; /* * default_range: set by default by the EC. diff --git a/test/math_util.c b/test/math_util.c index 9a449a93a3..8fd32e5a79 100644 --- a/test/math_util.c +++ b/test/math_util.c @@ -46,7 +46,7 @@ static int test_acos(void) } -const matrix_3x3_t test_matrices[] = { +const mat33_fp_t test_matrices[] = { {{ 0, FLOAT_TO_FP(-1), 0}, {FLOAT_TO_FP(-1), 0, 0}, { 0, 0, FLOAT_TO_FP(1)} }, |