convert from body coordinate system to right-hand
coordinate system.
Example:
Compared to the standard coordinate system,
the x-axis and y-axis are interchanged and have opposite directions,
the z-axis remains normal.
body coordinate ----> right-hand coordinate
+x +y
| |
| |
| |
| |
-y<-------. .------>+x
/ /
/ /
/ /
/ /
+z +z
So for the above conversion, using "P3" to represent transformation relationships
The front is 1 0 2, which represents the y x z axis.
The standard order is 0 1 2, so y and x are interchanged.
The following -1 1 1 indicates the direction of the axis.
The standard is 1 1 1. Because the current y-axis is opposite to
the standard x-axis, it is -1.
static const struct sensor_axis_map_s g_remap_tbl[] =
{
{ 0, 1, 2, 1, 1, 1 }, /* P0 */
{ 1, 0, 2, 1, -1, 1 }, /* P1 */
{ 0, 1, 2, -1, -1, 1 }, /* P2 */
{ 1, 0, 2, -1, 1, 1 }, /* P3 */
{ 0, 1, 2, -1, 1, -1 }, /* P4 */
{ 1, 0, 2, -1, -1, -1 }, /* P5 */
{ 0, 1, 2, 1, -1, -1 }, /* P6 */
{ 1, 0, 2, 1, 1, -1 }, /* P7 */
};
you can call the function sensor_remap_vector_raw16 and pass P3 parameters
to perform the conversion.
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
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