diff options
Diffstat (limited to 'common/mag_cal.c')
| -rw-r--r-- | common/mag_cal.c | 52 |
1 files changed, 21 insertions, 31 deletions
diff --git a/common/mag_cal.c b/common/mag_cal.c index 13beb93af2..a9ce95798c 100644 --- a/common/mag_cal.c +++ b/common/mag_cal.c @@ -1,4 +1,4 @@ -/* Copyright 2015 The Chromium OS Authors. All rights reserved. +/* Copyright 2015 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -14,17 +14,17 @@ #include "util.h" /* Data from sensor is in 16th of uT, 0.0625 uT/LSB */ -#define MAG_CAL_RAW_UT 16 +#define MAG_CAL_RAW_UT 16 -#define MAX_EIGEN_RATIO FLOAT_TO_FP(25.0f) -#define MAX_EIGEN_MAG FLOAT_TO_FP(80.0f * MAG_CAL_RAW_UT) -#define MIN_EIGEN_MAG FLOAT_TO_FP(10.0f * MAG_CAL_RAW_UT) +#define MAX_EIGEN_RATIO FLOAT_TO_FP(25.0f) +#define MAX_EIGEN_MAG FLOAT_TO_FP(80.0f * MAG_CAL_RAW_UT) +#define MIN_EIGEN_MAG FLOAT_TO_FP(10.0f * MAG_CAL_RAW_UT) -#define MAX_FIT_MAG MAX_EIGEN_MAG -#define MIN_FIT_MAG MIN_EIGEN_MAG +#define MAX_FIT_MAG MAX_EIGEN_MAG +#define MIN_FIT_MAG MIN_EIGEN_MAG -#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ## args) -#define PRINTF_FLOAT(x) ((int)((x) * 100.0f)) +#define CPRINTF(format, args...) cprintf(CC_ACCEL, format, ##args) +#define PRINTF_FLOAT(x) ((int)((x)*100.0f)) /** * Compute the covariance element: (avg(ab) - avg(a)*avg(b)) @@ -51,34 +51,25 @@ static int moc_eigen_test(struct mag_cal_t *moc) mat33_fp_t eigenvecs; fp_t evmax, evmin, evmag; fp_t inv = fp_div_dbz(FLOAT_TO_FP(1.0f), - INT_TO_FP((int) moc->kasa_fit.nsamples)); + INT_TO_FP((int)moc->kasa_fit.nsamples)); int eigen_pass; /* covariance matrix */ - S[0][0] = covariance_element(moc->kasa_fit.acc_xx, - moc->kasa_fit.acc_x, - moc->kasa_fit.acc_x, - inv); + S[0][0] = covariance_element(moc->kasa_fit.acc_xx, moc->kasa_fit.acc_x, + moc->kasa_fit.acc_x, inv); S[0][1] = S[1][0] = covariance_element(moc->kasa_fit.acc_xy, moc->kasa_fit.acc_x, - moc->kasa_fit.acc_y, - inv); + moc->kasa_fit.acc_y, inv); S[0][2] = S[2][0] = covariance_element(moc->kasa_fit.acc_xz, moc->kasa_fit.acc_x, - moc->kasa_fit.acc_z, - inv); - S[1][1] = covariance_element(moc->kasa_fit.acc_yy, - moc->kasa_fit.acc_y, - moc->kasa_fit.acc_y, - inv); + moc->kasa_fit.acc_z, inv); + S[1][1] = covariance_element(moc->kasa_fit.acc_yy, moc->kasa_fit.acc_y, + moc->kasa_fit.acc_y, inv); S[1][2] = S[2][1] = covariance_element(moc->kasa_fit.acc_yz, moc->kasa_fit.acc_y, - moc->kasa_fit.acc_z, - inv); - S[2][2] = covariance_element(moc->kasa_fit.acc_zz, - moc->kasa_fit.acc_z, - moc->kasa_fit.acc_z, - inv); + moc->kasa_fit.acc_z, inv); + S[2][2] = covariance_element(moc->kasa_fit.acc_zz, moc->kasa_fit.acc_z, + moc->kasa_fit.acc_z, inv); mat33_fp_get_eigenbasis(S, eigenvals, eigenvecs); @@ -90,9 +81,8 @@ static int moc_eigen_test(struct mag_cal_t *moc) evmag = fp_sqrtf(eigenvals[X] + eigenvals[Y] + eigenvals[Z]); - eigen_pass = (fp_mul(evmin, MAX_EIGEN_RATIO) > evmax) - && (evmag > MIN_EIGEN_MAG) - && (evmag < MAX_EIGEN_MAG); + eigen_pass = (fp_mul(evmin, MAX_EIGEN_RATIO) > evmax) && + (evmag > MIN_EIGEN_MAG) && (evmag < MAX_EIGEN_MAG); #if 0 CPRINTF("mag eigenvalues: (%.02d %.02d %.02d), ", |