/hardware/invensense/60xx/mlsdk/mllite/ |
D | mlMathFunc.c | 234 void inv_quaternion_to_rotation(const long *quat, long *rot) in inv_quaternion_to_rotation() argument 237 inv_q29_mult(quat[1], quat[1]) + inv_q29_mult(quat[0], in inv_quaternion_to_rotation() 238 quat[0]) - 1073741824L; in inv_quaternion_to_rotation() 239 rot[1] = inv_q29_mult(quat[1], quat[2]) - inv_q29_mult(quat[3], quat[0]); in inv_quaternion_to_rotation() 240 rot[2] = inv_q29_mult(quat[1], quat[3]) + inv_q29_mult(quat[2], quat[0]); in inv_quaternion_to_rotation() 241 rot[3] = inv_q29_mult(quat[1], quat[2]) + inv_q29_mult(quat[3], quat[0]); in inv_quaternion_to_rotation() 243 inv_q29_mult(quat[2], quat[2]) + inv_q29_mult(quat[0], in inv_quaternion_to_rotation() 244 quat[0]) - 1073741824L; in inv_quaternion_to_rotation() 245 rot[5] = inv_q29_mult(quat[2], quat[3]) - inv_q29_mult(quat[1], quat[0]); in inv_quaternion_to_rotation() 246 rot[6] = inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]); in inv_quaternion_to_rotation() [all …]
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D | mlFIFO.c | 1699 long quat[4]; in inv_get_gravity() local 1713 result = inv_get_quaternion(quat); in inv_get_gravity() 1720 inv_q29_mult(quat[1], quat[3]) - inv_q29_mult(quat[2], quat[0]); in inv_get_gravity() 1722 inv_q29_mult(quat[2], quat[3]) + inv_q29_mult(quat[1], quat[0]); in inv_get_gravity() 1724 (inv_q29_mult(quat[3], quat[3]) + inv_q29_mult(quat[0], quat[0])) - in inv_get_gravity()
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D | mlMathFunc.h | 54 void inv_quaternion_to_rotation(const long *quat, long *rot);
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/hardware/invensense/60xx/libsensors_iio/software/core/mllite/ |
D | ml_math_func.c | 39 float inv_compass_angle(const long *compass, const long *grav, const float *quat) in inv_compass_angle() argument 51 inv_q_multf(quat, cgcross, q1); in inv_compass_angle() 52 inv_q_invertf(quat, qi); in inv_compass_angle() 234 double quaternion_to_rotation_angle(const long *quat) { in quaternion_to_rotation_angle() argument 235 double quat0 = (double )quat[0] / 1073741824; in quaternion_to_rotation_angle() 346 void inv_quaternion_to_rotation(const long *quat, long *rot) in inv_quaternion_to_rotation() argument 349 inv_q29_mult(quat[1], quat[1]) + inv_q29_mult(quat[0], in inv_quaternion_to_rotation() 350 quat[0]) - in inv_quaternion_to_rotation() 353 inv_q29_mult(quat[1], quat[2]) - inv_q29_mult(quat[3], quat[0]); in inv_quaternion_to_rotation() 355 inv_q29_mult(quat[1], quat[3]) + inv_q29_mult(quat[2], quat[0]); in inv_quaternion_to_rotation() [all …]
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D | ml_math_func.h | 80 void inv_quaternion_to_rotation(const long *quat, long *rot); 92 void inv_quaternion_to_rotation_vector(const long *quat, long *rot); 101 const float *quat); 109 double quaternion_to_rotation_angle(const long *quat);
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D | data_builder.c | 288 sensors.quat.sample_rate_us = sample_rate_us; in inv_set_quat_sample_rate() 289 sensors.quat.sample_rate_ms = sample_rate_us / 1000; in inv_set_quat_sample_rate() 741 inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp) in inv_build_quat() argument 747 fwrite(quat, sizeof(quat[0]), 4, inv_data_builder.file); in inv_build_quat() 752 memcpy(sensors.quat.raw, quat, sizeof(sensors.quat.raw)); in inv_build_quat() 753 sensors.quat.timestamp = timestamp; in inv_build_quat() 754 sensors.quat.status |= INV_NEW_DATA | INV_RAW_DATA | INV_SENSOR_ON; in inv_build_quat() 755 sensors.quat.status |= (INV_BIAS_APPLIED & status); in inv_build_quat() 781 sensors.quat.status = 0; in inv_quaternion_sensor_was_turned_off() 916 if (sensors.quat.status & INV_QUAT_NEW) in inv_execute_on_data() [all …]
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D | hal_outputs.c | 352 if ((sensor_cal->quat.status & INV_SENSOR_ON) && (sr > sensor_cal->quat.sample_rate_ms)) { in inv_generate_hal_outputs() 353 sr = sensor_cal->quat.sample_rate_ms; in inv_generate_hal_outputs() 358 if (sensor_cal->quat.status & INV_SENSOR_ON) { in inv_generate_hal_outputs() 383 hal_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0; in inv_generate_hal_outputs() 384 hal_out.nav_timestamp = sensor_cal->quat.timestamp; in inv_generate_hal_outputs()
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D | data_builder.h | 110 struct inv_quat_sensor_t quat; member 182 inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp);
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D | results_holder.h | 27 void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp);
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D | results_holder.c | 59 void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp) in inv_store_gaming_quaternion() argument 62 memcpy(&rh.gam_quat, quat, sizeof(rh.gam_quat)); in inv_store_gaming_quaternion()
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/hardware/invensense/65xx/libsensors_iio/software/core/mllite/ |
D | ml_math_func.c | 39 float inv_compass_angle(const long *compass, const long *grav, const float *quat) in inv_compass_angle() argument 51 inv_q_multf(quat, cgcross, q1); in inv_compass_angle() 52 inv_q_invertf(quat, qi); in inv_compass_angle() 234 double quaternion_to_rotation_angle(const long *quat) { in quaternion_to_rotation_angle() argument 235 double quat0 = (double )quat[0] / 1073741824; in quaternion_to_rotation_angle() 346 void inv_quaternion_to_rotation(const long *quat, long *rot) in inv_quaternion_to_rotation() argument 349 inv_q29_mult(quat[1], quat[1]) + inv_q29_mult(quat[0], in inv_quaternion_to_rotation() 350 quat[0]) - in inv_quaternion_to_rotation() 353 inv_q29_mult(quat[1], quat[2]) - inv_q29_mult(quat[3], quat[0]); in inv_quaternion_to_rotation() 355 inv_q29_mult(quat[1], quat[3]) + inv_q29_mult(quat[2], quat[0]); in inv_quaternion_to_rotation() [all …]
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D | data_builder.c | 320 sensors.quat.sample_rate_us = sample_rate_us; in inv_set_quat_sample_rate() 321 sensors.quat.sample_rate_ms = sample_rate_us / 1000; in inv_set_quat_sample_rate() 396 if (sensors.quat.status & INV_SENSOR_ON) { in inv_get_last_timestamp() 397 if (timestamp < sensors.quat.timestamp) in inv_get_last_timestamp() 398 timestamp = sensors.quat.timestamp; in inv_get_last_timestamp() 863 inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp) in inv_build_quat() argument 869 fwrite(quat, sizeof(quat[0]), 4, inv_data_builder.file); in inv_build_quat() 877 MPL_LOGV("3q: %ld,%ld,%ld\n", quat[0], quat[1], quat[2]); in inv_build_quat() 878 inv_compute_scalar_part(quat, resultQuat); in inv_build_quat() 880 memcpy(sensors.quat.raw, resultQuat, sizeof(sensors.quat.raw)); in inv_build_quat() [all …]
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D | ml_math_func.h | 80 void inv_quaternion_to_rotation(const long *quat, long *rot); 92 void inv_quaternion_to_rotation_vector(const long *quat, long *rot); 101 const float *quat); 109 double quaternion_to_rotation_angle(const long *quat);
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D | hal_outputs.c | 535 hal_out.quat_status = sensor_cal->quat.status; in inv_generate_hal_outputs() 550 if ((sensor_cal->quat.status & INV_SENSOR_ON) && (sr > sensor_cal->quat.sample_rate_ms)) { in inv_generate_hal_outputs() 551 sr = sensor_cal->quat.sample_rate_ms; in inv_generate_hal_outputs() 556 if (sensor_cal->quat.status & INV_SENSOR_ON) { in inv_generate_hal_outputs() 581 hal_out.nine_axis_status = (sensor_cal->quat.status & INV_NEW_DATA) ? 1 : 0; in inv_generate_hal_outputs() 582 hal_out.nav_timestamp = sensor_cal->quat.timestamp; in inv_generate_hal_outputs()
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D | results_holder.h | 27 void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp); 28 void inv_store_accel_quaternion(const long *quat, inv_time_t timestamp);
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D | results_holder.c | 65 void inv_store_gaming_quaternion(const long *quat, inv_time_t timestamp) in inv_store_gaming_quaternion() argument 68 memcpy(&rh.gam_quat, quat, sizeof(rh.gam_quat)); in inv_store_gaming_quaternion() 77 void inv_store_accel_quaternion(const long *quat, inv_time_t timestamp) in inv_store_accel_quaternion() argument 80 memcpy(&rh.accel_quat, quat, sizeof(rh.accel_quat)); in inv_store_accel_quaternion()
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D | data_builder.h | 130 struct inv_quat_sensor_t quat; member 236 inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp);
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/hardware/invensense/60xx/libsensors/ |
D | MPLSensor.cpp | 662 float quat[4]; in rvHandler() local 667 r = inv_get_float_array(INV_QUATERNION, quat); in rvHandler() 676 norm = quat[1] * quat[1] + quat[2] * quat[2] + quat[3] * quat[3] in rvHandler() 683 quat[1] = quat[1] * inv_norm; in rvHandler() 684 quat[2] = quat[2] * inv_norm; in rvHandler() 685 quat[3] = quat[3] * inv_norm; in rvHandler() 688 if (quat[0] < 0.0) { in rvHandler() 689 quat[1] = -quat[1]; in rvHandler() 690 quat[2] = -quat[2]; in rvHandler() 691 quat[3] = -quat[3]; in rvHandler() [all …]
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/hardware/invensense/60xx/libsensors_iio/software/core/mpl/ |
D | quaternion_supervisor.h | 21 void inv_set_quaternion(long *quat);
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D | mag_disturb.h | 17 int inv_check_magnetic_disturbance(unsigned long delta_time, const long *quat,
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/hardware/invensense/65xx/libsensors_iio/software/core/mpl/ |
D | quaternion_supervisor.h | 23 void inv_set_quaternion(long *quat);
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D | mag_disturb.h | 19 int inv_check_magnetic_disturbance(unsigned long delta_time, const long *quat,
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