MotionApps 5.1.1 release, with MA 5.1.0 for further merge review.cm-10.1.3-RC2cm-10.1.3-RC1cm-10.1.3cm-10.1.2cm-10.1.1cm-10.1.0-RC5cm-10.1.0-RC4cm-10.1.0-RC3cm-10.1.0-RC2cm-10.1.0-RC1cm-10.1.0cm-10.1-M3cm-10.1-M2cm-10.1-M1mr1.1-stagingcm-10.1

1. Removed all #ifdef in HAL's member APIs.
2. Added necessary comments as reference.
3. Made changes for coding style, optimization and so on per prior comments.
4. Now raw/calibrated gyroscope sensors could co-exist
  Default sensor would be calibrated gyroscope sensor
  for getDefaultSensor() call in Android.

* Correctly handle onPower()/masterEnable().
* Use the support functions for reading/writing sysfs.
 1 line instead of 9 all over the place.
* Fix return code for {read,write}_sysfs_int():
  was > 0 in case of failure instead of < 0.

Bug: 7211625
Change-Id: Ib49dab8ca0f48f45a2838de72f4f8ac011d0e68f

1 files changed, 12 insertions, 0 deletions

diff --git a/libsensors_iio/software/core/mllite/ml_math_func.h b/libsensors_iio/software/core/mllite/ml_math_func.h
index 916de0a..535d849 100644
--- a/libsensors_iio/software/core/mllite/ml_math_func.h
+++ b/libsensors_iio/software/core/mllite/ml_math_func.h
@@ -24,6 +24,13 @@
 extern "C" {
 #endif
 
+     typedef struct {
+        float state[4];
+        float c[5];
+        float input;
+        float output;
+    }   inv_biquad_filter_t;
+
     static inline float inv_q30_to_float(long q30)
     {
         return (float) q30 / ((float)(1L << 30));
@@ -102,6 +109,11 @@ extern "C" {
     double quaternion_to_rotation_angle(const long *quat);
     double inv_vector_norm(const float *x);
 
+    void inv_init_biquad_filter(inv_biquad_filter_t *pFilter, float *pBiquadCoeff);
+    float inv_biquad_filter_process(inv_biquad_filter_t *pFilter, float input);
+    void inv_calc_state_to_match_output(inv_biquad_filter_t *pFilter, float input);
+    void inv_get_cross_product_vec(float *cgcross, float compass[3], float grav[3]);
+
 #ifdef __cplusplus
 }
 #endif