summaryrefslogtreecommitdiff
path: root/include/math_util.h
Commit message (Collapse)AuthorAgeFilesLines
* common: add ceil_for function to math_util.hLeifu Zhao2019-10-311-0/+11
| | | | | | | | | | | | | | | | | | During code review for tgl rvp enablement, found it is better to add ceil_for function to math_util.h. BUG=none BRANCH=none TEST=successfully compile for arcada Signed-off-by: Leifu Zhao <leifu.zhao@intel.com> Change-Id: Iee350881c88e923c7a70317a9b8d75ee6104dba0 Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1873349 Reviewed-by: Daisuke Nojiri <dnojiri@chromium.org> Reviewed-by: Leifu Zhao <leifu.zhao@intel.corp-partner.google.com> Auto-Submit: Leifu Zhao <leifu.zhao@intel.corp-partner.google.com> Commit-Queue: Leifu Zhao <leifu.zhao@intel.corp-partner.google.com> Tested-by: Leifu Zhao <leifu.zhao@intel.corp-partner.google.com>
* LICENSE: remove unnecessary (c) after CopyrightTom Hughes2019-06-191-1/+1
| | | | | | | | | | | | | | | | Ran the following command: git grep -l 'Copyright (c)' | \ xargs sed -i 's/Copyright (c)/Copyright/g' BRANCH=none BUG=none TEST=make buildall -j Change-Id: I6cc4a0f7e8b30d5b5f97d53c031c299f3e164ca7 Signed-off-by: Tom Hughes <tomhughes@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/c/chromiumos/platform/ec/+/1663262 Reviewed-by: Daisuke Nojiri <dnojiri@chromium.org> Reviewed-by: Aseda Aboagye <aaboagye@chromium.org>
* math: Add/expose some vector operationGwendal Grignou2019-02-281-0/+18
| | | | | | | | | | | | | Expose dot procdut and cros product for vector operations. BUG=b:120346412 BRANCH=none TEST=compile, check unit tests. Change-Id: Ief50f31aa6105dc2f0d92caf8b7473a7e141eb45 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/1387923 Commit-Ready: ChromeOS CL Exonerator Bot <chromiumos-cl-exonerator@appspot.gserviceaccount.com>
* math_util: Support fp_div_dbz which handling division-by-zero error.Yilun Lin2018-10-041-0/+24
| | | | | | | | | | | | | | | | | | | | | | Fixed-point numbers has limited value range. It is very easy to be trapped in a division-by-zero error especially when doing magnetometer calculation. We only use fixed-point operations for motion sensors now, so the precision and correctness for these operations is not the most important point to consider. Here we just let divided-by-zero result becomes INT32_MAX, to prevent the system failure. TEST=undef CONFIG_FPU, build, flash on reef, and test magnetometer, and see the system doesn't crash. BUG=b:113364863 BRANCH=None Change-Id: I0ab657b2132666eefa9f3a04043ce29f0096d238 Signed-off-by: Yilun Lin <yllin@google.com> Reviewed-on: https://chromium-review.googlesource.com/1248421 Commit-Ready: Yilun Lin <yllin@chromium.org> Tested-by: Yilun Lin <yllin@chromium.org> Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>
* math_util: Support fixed-point sqrtf fp_sqrtf.Yilun Lin2018-09-261-0/+5
| | | | | | | | | | | | | TEST=make buildall -j BUG=b:113364863 BRANCH=None Change-Id: I63ee741a08e39cf6f234a2131137144c46ae0bbd Signed-off-by: Yilun Lin <yllin@google.com> Reviewed-on: https://chromium-review.googlesource.com/1235476 Commit-Ready: ChromeOS CL Exonerator Bot <chromiumos-cl-exonerator@appspot.gserviceaccount.com> Tested-by: Yilun Lin <yllin@chromium.org> Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>
* type: Rename matrix_3x3_t to mat33_fp_tYilun Lin2018-09-131-3/+3
| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | Naming of many vector types and matrix types are not clear enough. For example, we have: vector_3_t, which is a vector of three int. vec3_t, which is a vector of three float. size4_t, which is a vector of four size_t. mat33_t, which is a 3x3 matrix of float. matrix_3x3_t, which is a 3x3 matrix of fixed point. Besides, we have types like int8_t, uint16_t types. To clearly distinguished types, the CL propose to, For vector types, naming should be `$type + 'v' + $num + '_t'`: vector_3_t becomes intv3_t vec3_t becomes floatv3_t vector 4 of uint16_t becomes uint16v4_t (which doesn't exist yet) For matrix types, naming should be `mat$N$N_` + $type + '_t', where $N is the matrix size: matrix_3x3_t becomes mat33_fp_t # fp: fixed point mat33_t becomes mat33_float_t TEST=make buildall -j BUG=b:114662791 Change-Id: I51d88d44252184e4b7b3564236833b0b892edc39 Signed-off-by: Yilun Lin <yllin@google.com> Reviewed-on: https://chromium-review.googlesource.com/1215449 Commit-Ready: Yilun Lin <yllin@chromium.org> Tested-by: Yilun Lin <yllin@chromium.org> Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>
* type: Rename vector_3_t to intv3_t.Yilun Lin2018-09-131-4/+4
| | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | Naming of many vector types and matrix types are not clear enough. For example, we have: vector_3_t, which is a vector of three int. vec3_t, which is a vector of three float. size4_t, which is a vector of four size_t. mat33_t, which is a 3x3 matrix of float. matrix_3x3_t, which is a 3x3 matrix of fixed point. Besides, we have types like int8_t, uint16_t types. To clearly distinguished types, the CL propose to, For vector types, naming should be `$type + 'v' + $num + '_t'`: vector_3_t becomes intv3_t vec3_t becomes floatv3_t vector 4 of uint16_t becomes uint16v4_t (which doesn't exist yet) For matrix types, naming should be `mat$N$N_` + $type + '_t', where $N is the matrix size: matrix_3x3_t becomes mat33_fp_t # fp: fixed point mat33_t becomes mat33_float_t TEST=make buildall -j BUG=b:114662791 Change-Id: I865aa3ecbab6cb97f8585a081a679adf00febe1d Signed-off-by: Yilun Lin <yllin@google.com> Reviewed-on: https://chromium-review.googlesource.com/1215442 Commit-Ready: Yilun Lin <yllin@chromium.org> Tested-by: Yilun Lin <yllin@chromium.org> Reviewed-by: Nicolas Boichat <drinkcat@chromium.org>
* careena: Correct baseboard IMU orientation.Jonathan Brandmeyer2018-07-311-0/+2
| | | | | | | | | | | | | | | | | | | | The Careena baseboard IMU principle axes are rotated relative to the Grunt reference design for manufacturability. Also, refactor common/spi_flash_reg.c to avoid a name collision with axis definitions in math_util. BRANCH=none BUG=b:111983307 TEST=make -j buldall; Observe `accelread 1` output with the base in orientations: flat, perturbed by rotation about +y, and perturbed by rotation about +x. Signed-off-by: Jonathan Brandmeyer <jbrandmeyer@chromium.org> Change-Id: Ib85d657ef47a89aaa63134b2bdf43920caf6c06e Reviewed-on: https://chromium-review.googlesource.com/1155628 Commit-Ready: Jonathan Brandmeyer <jbrandmeyer@chromium.org> Tested-by: Jonathan Brandmeyer <jbrandmeyer@chromium.org> Reviewed-by: Edward Hill <ecgh@chromium.org>
* common: Add magnetometer online calibration.Gwendal Grignou2015-10-131-2/+2
| | | | | | | | | | | | | | | | 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>
* common: math: Use float when CONFIG_FPU is set.Gwendal Grignou2015-09-181-1/+27
| | | | | | | | | | | | | | When hardware FPU is set, use it. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=compile. Change-Id: I5b42bd23a7ee7549e538eff075756b58f79756f2 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299516 Reviewed-by: Randall Spangler <rspangler@chromium.org> Reviewed-by: Alec Berg <alecaberg@chromium.org>
* common: math: Stop using FP_BITS directly.Gwendal Grignou2015-09-151-2/+5
| | | | | | | | | | | | | | | To be able to use hardware FPUs, use fp_ functions instead of FP_BITS in application code. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=compile. Change-Id: I8a1339140eb5ddab32dd3edc58fb5d3ccaef52e2 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299515 Reviewed-by: Randall Spangler <rspangler@chromium.org> Reviewed-by: Alec Berg <alecaberg@chromium.org>
* math: Add inverse matrix calculationGwendal Grignou2015-08-241-1/+8
| | | | | | | | | | | | | | | | Add a slow inverse matrix calculation function. It is needed to apply factory offset properly. Also consider the NULL matrix the identity matrix. BRANCH=smaug,cyan TEST=Unit test BUG=chromium:517675 Change-Id: Ifa11954992e6f2fab02b4e92684e7b01bbaafe94 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/294594 Reviewed-by: Sheng-liang Song <ssl@chromium.org>
* cleanup: fix all the header guardsBill Richardson2015-06-181-3/+3
| | | | | | | | | | | | | | | This unifies all the EC header files to use __CROS_EC_FILENAME_H as the include guard. Well, except for test/ util/ and extra/ which use __TEST_ __UTIL_ and __EXTRA_ prefixes respectively. BUG=chromium:496895 BRANCH=none TEST=make buildall -j Signed-off-by: Bill Richardson <wfrichar@chromium.org> Change-Id: Iea71b3a08bdec94a11239de810a2b2e152b15029 Reviewed-on: https://chromium-review.googlesource.com/278121 Reviewed-by: Randall Spangler <rspangler@chromium.org>
* accel: move X,Y,Z definitionGwendal Grignou2015-06-091-0/+4
| | | | | | | | | | | | | | Move definition so that we can use it in accel driver. BUG=None TEST=Compile BRANCH=none Change-Id: I45d16a91d923cb0538b7fdf4110112566c87b6d0 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/269837 Reviewed-by: Alec Berg <alecaberg@chromium.org> Reviewed-by: Vincent Palatin <vpalatin@chromium.org>
* Convert motion sense calculations to fixed point.Randall Spangler2015-02-051-16/+70
| | | | | | | | | | | | | | | | | | | | | | | | | | | | Motion sense calculations do not require huge amounts of precision, so fixed point is plenty accurate. And fixed point works on Cortex-M0, which lacks a FPU. BUG=chrome-os-partner:36126 BRANCH=minnie (samus already works with the FPU, but could grab this if we want additional testing) TEST=manual 1. Boot system 2. At EC console: accelinfo on 250 3. Move lid through several different angles (30 degrees to max open) and see that it updates correctly and relatively smoothly. A few degrees of angle jitter is normal. 4. At several angles, rotate the chromebook around and see that the lid angle remains relatively stable. 5. If the hinge is made normal to the ground (or within 15 degrees of vertical), the angle should read 500, since the acceleration vectors don't yield good results in that orientation (for either fixed or float math). And run 'make buildall -j', which tests arc_cos() and lid angle calculations Change-Id: I70a0d08b8914629a3e21ae5578cbe8e50f29ad68 Signed-off-by: Randall Spangler <rspangler@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/244116 Reviewed-by: Alec Berg <alecaberg@chromium.org>
* math: use CONFIG_FPU when using float.Gwendal Grignou2014-11-091-0/+8
| | | | | | | | | | | | | ifdef code than needs CONFIG_FPU (acos and friends) BRANCH=ToT BUG=chrome-os-partner:32050 TEST=define CONFIG_FPU on host board and use it. Change-Id: I1c4ed16c23450bb4059d26044f4c1fe45b33674e Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/226414 Reviewed-by: Alec Berg <alecaberg@chromium.org> Reviewed-by: Sheng-liang Song <ssl@chromium.org>
* [common]: Remove accelerator calibration code.Gwendal Grignou2014-09-251-42/+0
| | | | | | | | | | | | | | | | This code is used to find the orientation of the sensor. Given sensor are aligned with the edges of the device, it is not too dificult to find manually. BRANCH=ToT BUG=None TEST=Check ACCEL_CALIBRATE is not used anymore. Check 'make buildall -j' works. Change-Id: I81ffcb4f6b01c530ef16baf13113a5942f615092 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/219527 Reviewed-by: Alec Berg <alecaberg@chromium.org>
* samus: added gyro support for lsm6ds0Sheng-Liang Song2014-08-261-4/+4
| | | | | | | | | | | | | | | | | | | | | | | | | | Changed motion_sense task to assume sensors are unpowered in G3 and re-initialize sensors every time coming out of G3. Added EC command line test utils as well. Fixed some bug during unit tests. BUG=chrome-os-partner:27313,27320 BRANCH=ToT TEST=Verified on Samus. Tested with accel EC CLIs accelread, accelrange, accelrate, accelres Tested accelcalib, a ACCEL calibration util, and it succeeded. Tested sysfs interface: cd /sys/bus/iio/devices/iio:device1 cat in_accel_*_gyro_raw Signed-off-by: Sheng-Liang Song <ssl@chromium.org> Change-Id: I5752b00c03e1942c790ea4f28610fda83fa2dcbc Reviewed-on: https://chromium-review.googlesource.com/211484 Reviewed-by: Alec Berg <alecaberg@chromium.org>
* rambi: Add motion sense task to track motionAlec Berg2014-02-221-0/+93
Added motion sense task to Clapper and Glimmer. This task samples the accelerometers and calculate a lid angle. Note that as the machine is rotated towards the hinge angle aligning with gravity, the lid calculation becomes less trustworthy. Added a math_util file to hold various mathematical functions useful for calculating lid angle that may be helpful in other places. For each board with accelerometers we need to define some orientation specific data in board.c. There is a calibration procedure through the EC console that can be enabled by defining CONFIG_ACCEL_CALIBRATE. The calibration procedure can help determine the orientation data required. For debugging purposes there is a console command to regularly print to the EC console the accelerometer data and derived lid angle. The console command can be enabled by defining CONFIG_CMD_LID_ANGLE. BUG=none Original-BUG=chrome-os-partner:24703 BRANCH=rambi TEST=Ran the calibration procedure on a Glimmer unit, and then rotated the machine in space. Verified that the lid angle calculated roughly matched actual lid angle. Original-Change-Id: I63a5e384b7f6b628b4ea01de49843355fb8d6ebe Signed-off-by: Alec Berg <alecaberg@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/184783 Reviewed-by: Randall Spangler <rspangler@chromium.org> Signed-off-by: Alec Berg <alecaberg@chromium.org> (cherry picked from commit efb07945a5159fa0e7a746c666b2519ebdca9c22) Conflicts: board/clapper/board.c board/clapper/ec.tasklist board/glimmer/board.c board/glimmer/ec.tasklist Change-Id: Ibc492ef5c11e7084e87f01338c4d7775f9a08c18 Signed-off-by: Alec Berg <alecaberg@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/187433 Reviewed-by: Randall Spangler <rspangler@chromium.org>
View Lorry Controller Status