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/* Copyright 2021 The Chromium OS Authors. All rights reserved.
* Use of this source code is governed by a BSD-style license that can be
* found in the LICENSE file.
*/
#include "common.h"
#define SENSOR_MUTEX_NODE DT_PATH(motionsense_mutex)
#define SENSOR_MUTEX_NAME(id) DT_CAT(MUTEX_, id)
#if DT_NODE_EXISTS(SENSOR_MUTEX_NODE)
#define DECLARE_SENSOR_MUTEX(id) static mutex_t SENSOR_MUTEX_NAME(id);
#define INIT_SENSOR_MUTEX(id) k_mutex_init(&SENSOR_MUTEX_NAME(id));
/*
* Declare mutex for
* each child node of "/motionsense-mutex" node in DT.
*
* A mutex can be shared among the motion sensors.
*/
DT_FOREACH_CHILD(SENSOR_MUTEX_NODE, DECLARE_SENSOR_MUTEX)
/* Initialize mutexes */
static int init_sensor_mutex(const struct device *dev)
{
ARG_UNUSED(dev);
DT_FOREACH_CHILD(SENSOR_MUTEX_NODE, INIT_SENSOR_MUTEX)
return 0;
}
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
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