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type: Rename matrix_3x3_t to mat33_fp_t 

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>
Reviewed-on: https://chromium-review.googlesource.com/1230991
Reviewed-by: Martin Roth <martinroth@chromium.org>
Commit-Queue: Martin Roth <martinroth@chromium.org>
Tested-by: Martin Roth <martinroth@chromium.org>
This commit is contained in:
Yilun Lin 2018-09-08 00:31:36 +08:00 committed by ChromeOS Commit Bot
parent d86563db5c
commit a38f7585f1
31 changed files with 54 additions and 54 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
baseboard/grunt/baseboard.c
View File

@ -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,
},

2
baseboard/grunt/baseboard.h
View File

@ -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)

2
board/atlas/board.c
View File

@ -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)}

2
board/bobba/board.c
View File

@ -109,7 +109,7 @@ 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)}

2
board/cheza/board.c
View File

@ -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)}

4
board/coral/board.c
View File

@ -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)}

4
board/elm/board.c
View File

@ -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)}

4
board/eve/board.c
View File

@ -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)}

4
board/fleex/board.c
View File

@ -125,13 +125,13 @@ 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)}

2
board/kukui/board.c
View File

@ -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)}

2
board/meep/board.c
View File

@ -132,7 +132,7 @@ 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)}

6
board/nami/board.c
View File

@ -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) }

4
board/nautilus/board.c
View File

@ -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) }

2
board/nocturne/board.c
View File

@ -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)}

2
board/oak/board.c
View File

@ -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)}

2
board/phaser/board.c
View File

@ -112,7 +112,7 @@ 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)}

8
board/poppy/board.c
View File

@ -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)}

2
board/rainier/board.c
View File

@ -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)}

4
board/rammus/board.c
View File

@ -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) }

4
board/reef/board.c
View File

@ -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)}

4
board/reef_mchp/board.c
View File

@ -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)}

2
board/rowan/board.c
View File

@ -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)}

4
board/samus/board.c
View File

@ -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)}

2
board/scarlet/board.c
View File

@ -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)}

4
board/strago/board.c
View File

@ -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)}

2
board/yorp/board.c
View File

@ -110,7 +110,7 @@ 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)}

4
common/math_util.c
View File

@ -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;

6
include/math_util.h
View File

@ -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 */

4
include/motion_lid.h
View File

@ -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;

2
include/motion_sense.h
View File

@ -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.

2
test/math_util.c
View File

@ -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)} },