mirror of https://github.com/rusefi/bldc.git
112 lines
2.7 KiB
C
112 lines
2.7 KiB
C
/*
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Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* utils.c
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*
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* Created on: 16 maj 2013
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* Author: benjamin
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*/
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#include "utils.h"
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#include "ch.h"
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#include <math.h>
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// Private variables
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static volatile int sys_lock_cnt = 0;
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void utils_step_towards(float *value, float goal, float step) {
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if (*value < goal) {
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if ((*value + step) < goal) {
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*value += step;
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} else {
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*value = goal;
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}
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} else if (*value > goal) {
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if ((*value - step) > goal) {
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*value -= step;
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} else {
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*value = goal;
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}
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}
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}
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float utils_calc_ratio(float low, float high, float val) {
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return (val - low) / (high - low);
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}
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/**
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* Make sure that 0 <= angle < 360
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* @param angle
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* The angle to normalize.
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*/
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void utils_norm_angle(float *angle) {
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*angle = fmodf(*angle, 360.0);
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if (*angle < 0.0) {
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*angle += 360.0;
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}
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}
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int utils_truncate_number(float *number, float min, float max) {
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int did_trunc = 0;
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if (*number > max) {
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*number = max;
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did_trunc = 1;
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} else if (*number < min) {
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*number = min;
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did_trunc = 1;
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}
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return did_trunc;
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}
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float utils_map(float x, float in_min, float in_max, float out_min, float out_max) {
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return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
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}
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/**
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* A system locking function with a counter. For every lock, a corresponding unlock must
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* exist to unlock the system. That means, if lock is called five times, unlock has to
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* be called five times as well. Note that chSysLock and chSysLockFromIsr are the same
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* for this port.
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*/
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void utils_sys_lock_cnt(void) {
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if (!sys_lock_cnt) {
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chSysLock();
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}
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sys_lock_cnt++;
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}
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/**
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* A system unlocking function with a counter. For every lock, a corresponding unlock must
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* exist to unlock the system. That means, if lock is called five times, unlock has to
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* be called five times as well. Note that chSysUnlock and chSysUnlockFromIsr are the same
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* for this port.
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*/
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void utils_sys_unlock_cnt(void) {
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if (sys_lock_cnt) {
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sys_lock_cnt--;
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if (!sys_lock_cnt) {
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chSysUnlock();
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}
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}
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}
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