utils.h File Reference

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Macros
#define	SIGN(x)   ((x<0)?-1:1)
#define	UTILS_AGE_S(x)   ((float)chTimeElapsedSince(x) / (float)CH_FREQUENCY)

Functions
void	utils_step_towards (float *value, float goal, float step)
float	utils_calc_ratio (float low, float high, float val)
void	utils_norm_angle (float *angle)
int	utils_truncate_number (float *number, float min, float max)
float	utils_map (float x, float in_min, float in_max, float out_min, float out_max)
int	utils_map_int (int x, int in_min, int in_max, int out_min, int out_max)
void	utils_deadband (float *value, float tres, float max)
float	utils_angle_difference (float angle1, float angle2)
float	utils_middle_of_3 (float a, float b, float c)
int	utils_middle_of_3_int (int a, int b, int c)
void	utils_sys_lock_cnt (void)
void	utils_sys_unlock_cnt (void)

Macro Definition Documentation

#define SIGN

(

x

)

((x<0)?-1:1)

#define UTILS_AGE_S

(

x

)

((float)chTimeElapsedSince(x) / (float)CH_FREQUENCY)

Function Documentation

float utils_angle_difference	(	float	angle1,
		float	angle2
	)

Get the difference between two angles. Will always be between -180 and +180 degrees.

Parameters

angle1	The first angle
angle2	The second angle

Returns

The difference between the angles

float utils_calc_ratio	(	float	low,
		float	high,
		float	val
	)

void utils_deadband	(	float *	value,
		float	tres,
		float	max
	)

Truncate absolute values less than tres to zero. The value tres will be mapped to 0 and the value max to max.

float utils_map	(	float	x,
		float	in_min,
		float	in_max,
		float	out_min,
		float	out_max
	)

int utils_map_int	(	int	x,
		int	in_min,
		int	in_max,
		int	out_min,
		int	out_max
	)

float utils_middle_of_3	(	float	a,
		float	b,
		float	c
	)

Get the middle value of three values

Parameters

a	First value
b	Second value
c	Third value

Returns

The middle value

int utils_middle_of_3_int	(	int	a,
		int	b,
		int	c
	)

Get the middle value of three values

Parameters

a	First value
b	Second value
c	Third value

Returns

The middle value

void utils_norm_angle

(

float *

angle

)

Make sure that 0 <= angle < 360

Parameters

angle

The angle to normalize.

void utils_step_towards	(	float *	value,
		float	goal,
		float	step
	)

void utils_sys_lock_cnt

(

void

)

A system locking function with a counter. For every lock, a corresponding unlock must exist to unlock the system. That means, if lock is called five times, unlock has to be called five times as well. Note that chSysLock and chSysLockFromIsr are the same for this port.

void utils_sys_unlock_cnt

(

void

)

A system unlocking function with a counter. For every lock, a corresponding unlock must exist to unlock the system. That means, if lock is called five times, unlock has to be called five times as well. Note that chSysUnlock and chSysUnlockFromIsr are the same for this port.

int utils_truncate_number	(	float *	number,
		float	min,
		float	max
	)