maxima: resolve unit orientation from sensor data

gerber/Makefile

@@ -23,7 +23,7 @@ zip: $(PROJ)_$(VERSION).zip
 %.plated-drill.cnc: ../%.pcb
 	pcb -x gerber --gerberfile $* --name-style single $<
 
-bom: $(PROJ)_bom.pdf
+bom: $(PROJ)_bom.pdf $(PROJ)_bom.txt
 
 %.bom: ../%.pcb
 	pcb -x bom --bomfile $@ $<

gerber/sethat_bom.txt

@@ -1,28 +1,22 @@
 # PcbBOM Version 1.0
-# Date: Di 23 Jan 2024 21:54:16 GMT UTC
+# Date: So 05 Jan 2025 09:50:49 GMT UTC
 # Author: 
-# Title: UPDI232 - PCB BOM
+# Title: SETHAT - PCB BOM
 # Quantity, Description, Value, RefDes
 # --------------------------------------------
 C0603           -BYP_100nF         1/1   C30
 C0603           -SD:_10kΩ          1/1   R30
-C0603           0Ω                 1/1   R21
-C0603           100kΩ              5/5   R1 R12 R15 R17 R18
-C0603           100nF              9/9   C1 C11 C12 C2 C3 C4 C5 C6 C7
-C0603           100Ω               1/1   R33
-C0603           10kΩ               9/9   R10 R11 R14 R2 R3 R4 R5 R6 R7
+C0603           100nF              7/7   C1 C11 C13 C14 C15 C50 C51
+C0603           10kΩ               3/3   R1 R2 R52
 C0603           120kΩ              1/1   R32
-C0603           1MΩ                2/2   R13 R16
-C0603           270kΩ              1/1   R31
-C0603           ∞Ω                 1/1   R20
-HE_100mil_2_2   unknown            2/2   J2 J30
-HE_100mil_6_2   unknown            1/1   J1
-P1206           10µF               3/3   C13 C31 C8
-SC70_6          BC847S             3/3   Q2 Q3 Q4
-SOD123          12V                1/1   D8
-SOD523          1N4148             7/7   D1 D2 D3 D4 D5 D6 D7
-SOIC_150_16     MAX3232EIDR        1/1   U1
-SOT23_3         BSS84              1/1   Q1
+C0603           130kΩ              1/1   R31
+C0603           18kΩ               2/2   R50 R51
+C0805           NTC_10k            1/1   R53
+HE_100mil_10_2  unknown            1/1   J3
+LGA_2_12        LIS3MDL            1/1   U2
+LGA_3_16        LIS3DH             1/1   U1
+P1206           10µF               6/6   C16 C17 C18 C19 C20 C21
 SOT23_5         LT1761-SD_/_-BYP   1/1   U30
-SUBD9_F         D9_fem_90°_backs   1/1   CONN1
+SUBD9_F         D9_female_90°_ba   1/1   CONN1
+SUBD9_M         D9_male_90°_back   1/1   CONN2
 gseboard        unknown            1/1   BOARD

maxima/sethat.maxima

@@ -0,0 +1,44 @@
+
+Rz: matrix([cos(alpha), -sin(alpha), 0],
+           [sin(alpha), cos(alpha),  0],
+	   [0,          0,           1]);
+Rx: matrix([1, 0,           0         ],
+	   [0, cos(alpha),  sin(alpha)],
+	   [0, -sin(alpha), cos(alpha)]);
+RA: ev(Rz, alpha=-psi) . ev(Rx, alpha=theta) . ev(Rz, alpha=psi);
+RM: ev(Rz, alpha=-phi) . ev(Rx, alpha=delta);
+RAM: RA . ev(Rz, alpha=-phi);
+
+Z: matrix([0], [0], [1]);
+A: matrix([Ax], [Ay], [Az]);
+M: matrix([Mx], [My], [Mz]);
+N: matrix([Nx], [Ny], [Nz]);
+EA: A = g * RA . Z;
+EM: M = b * RA . RM . Z;
+EN: N = b * RM . Z;
+SA: [ g = sqrt(Ax**2 + Ay**2 + Az**2),
+      theta = atan2(sqrt(Ax**2 + Ay**2), Az),
+      psi = atan2(Ax, Ay)                   ];
+EA, SA;
+SN: [ b = sqrt(Nx**2 + Ny**2 + Nz**2),
+      delta = atan2(sqrt(Nx**2 + Ny**2), Nz),
+      phi = atan2(Nx, Ny)                   ];
+EN, SN;
+
+R: RA . RM;
+RRA: trigsimp(RA^^-1);
+RRM: trigsimp(RM^^-1);
+RRAM: trigsimp(RAM^^-1);
+RR: trigsimp(R^^-1);
+
+NN : RRA . M;
+NM: [ Nx = args(NN)[1][1],
+      Ny = args(NN)[2][1],
+      Nz = args(NN)[3][1] ];
+SM: trigsimp(ev(SN, NM));
+SMA: SM, SA, ratsimp;
+
+RRA . A, SA, ratsimp;
+RRM . N, SN, ratsimp;
+RRAM . A, SMA, SA, ratsimp;
+RR .  M, SMA, SA, ratsimp;