mirror of https://github.com/rusefi/bldc.git
76 lines
2.6 KiB
C
76 lines
2.6 KiB
C
/*
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Copyright 2012-2015 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.h
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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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#ifndef UTILS_H_
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#define UTILS_H_
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#include <stdbool.h>
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void utils_step_towards(float *value, float goal, float step);
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float utils_calc_ratio(float low, float high, float val);
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void utils_norm_angle(float *angle);
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void utils_norm_angle_rad(float *angle);
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int utils_truncate_number(float *number, float min, float max);
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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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int utils_map_int(int x, int in_min, int in_max, int out_min, int out_max);
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void utils_deadband(float *value, float tres, float max);
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float utils_angle_difference(float angle1, float angle2);
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float utils_angle_difference_rad(float angle1, float angle2);
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float utils_avg_angles_rad_fast(float *angles, float *weights, int angles_num);
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float utils_middle_of_3(float a, float b, float c);
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int utils_middle_of_3_int(int a, int b, int c);
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float utils_fast_inv_sqrt(float x);
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float utils_fast_atan2(float y, float x);
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bool utils_saturate_vector_2d(float *x, float *y, float max);
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void utils_fast_sincos(float angle, float *sin, float *cos);
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void utils_fast_sincos_better(float angle, float *sin, float *cos);
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void utils_sys_lock_cnt(void);
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void utils_sys_unlock_cnt(void);
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// Return the sign of the argument. -1 if negative, 1 if zero or positive.
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#define SIGN(x) ((x<0)?-1:1)
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// Return the age of a timestamp in seconds
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#define UTILS_AGE_S(x) ((float)chVTTimeElapsedSinceX(x) / (float)CH_CFG_ST_FREQUENCY)
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// nan and infinity check for floats
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#define UTILS_IS_INF(x) ((x) == (1.0 / 0.0) || (x) == (-1.0 / 0.0))
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#define UTILS_IS_NAN(x) ((x) != (x))
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/**
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* A simple low pass filter.
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*
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* @param value
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* The filtered value.
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*
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* @param sample
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* Next sample.
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*
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* @param filter_constant
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* Filter constant. Range 0.0 to 1.0, where 1.0 gives the unfiltered value.
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*/
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#define UTILS_LP_FAST(value, sample, filter_constant) (value -= (filter_constant) * (value - (sample)))
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#endif /* UTILS_H_ */
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