1 files changed, 68 insertions, 0 deletions
diff --git a/libsensors/mlsdk/mllite/mlMathFunc.h b/libsensors/mlsdk/mllite/mlMathFunc.h
new file mode 100644
index 0000000..70fa9f4
--- /dev/null
+++ b/libsensors/mlsdk/mllite/mlMathFunc.h
@@ -0,0 +1,68 @@
+/*
+ $License:
+   Copyright 2011 InvenSense, Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+  $
+ */
+#ifndef INVENSENSE_INV_MATH_FUNC_H__
+#define INVENSENSE_INV_MATH_FUNC_H__
+#ifdef INV_INCLUDE_LEGACY_HEADERS
+#include "mlMathFunc_legacy.h"
+#endif
+
+#define NUM_ROTATION_MATRIX_ELEMENTS (9)
+#define ROT_MATRIX_SCALE_LONG  (1073741824)
+#define ROT_MATRIX_SCALE_FLOAT (1073741824.0f)
+#define ROT_MATRIX_LONG_TO_FLOAT( longval ) \
+    ((float) ((longval) / ROT_MATRIX_SCALE_FLOAT ))
+#define SIGNM(k)((int)(k)&1?-1:1)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+    struct filter_long {
+        int length;
+        const long *b;
+        const long *a;
+        long *x;
+        long *y;
+    };
+
+    void inv_filter_long(struct filter_long *state, long x);
+    long inv_q29_mult(long a, long b);
+    long inv_q30_mult(long a, long b);
+    void inv_q_mult(const long *q1, const long *q2, long *qProd);
+    void inv_q_add(long *q1, long *q2, long *qSum);
+    void inv_q_normalize(long *q);
+    void inv_q_invert(const long *q, long *qInverted);
+    void inv_q_multf(const float *q1, const float *q2, float *qProd);
+    void inv_q_addf(float *q1, float *q2, float *qSum);
+    void inv_q_normalizef(float *q);
+    void inv_q_norm4(float *q);
+    void inv_q_invertf(const float *q, float *qInverted);
+    void inv_quaternion_to_rotation(const long *quat, long *rot);
+    unsigned char *inv_int32_to_big8(long x, unsigned char *big8);
+    long inv_big8_to_int32(const unsigned char *big8);
+    unsigned char *inv_int16_to_big8(short x, unsigned char *big8);
+    float inv_matrix_det(float *p, int *n);
+    void inv_matrix_det_inc(float *a, float *b, int *n, int x, int y);
+    double inv_matrix_detd(double *p, int *n);
+    void inv_matrix_det_incd(double *a, double *b, int *n, int x, int y);
+    float inv_wrap_angle(float ang);
+    float inv_angle_diff(float ang1, float ang2);
+
+#ifdef __cplusplus
+}
+#endif
+#endif                          // INVENSENSE_INV_MATH_FUNC_H__