maths.c File Reference

#include <stdint.h>
#include <math.h>
#include <string.h>
#include "axis.h"
#include "maths.h"

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Macros
#define	sinPolyCoef3   -1.666665710e-1f
#define	sinPolyCoef5   8.333017292e-3f
#define	sinPolyCoef7   -1.980661520e-4f
#define	sinPolyCoef9   2.600054768e-6f
#define	atanPolyCoef1   3.14551665884836e-07f
#define	atanPolyCoef2   0.99997356613987f
#define	atanPolyCoef3   0.14744007058297684f
#define	atanPolyCoef4   0.3099814292351353f
#define	atanPolyCoef5   0.05030176425872175f
#define	atanPolyCoef6   0.1471039133652469f
#define	atanPolyCoef7   0.6444640676891548f
#define	QMF_SORT(a, b)   { if ((a)>(b)) QMF_SWAP((a),(b)); }
#define	QMF_SWAP(a, b)   { int32_t temp=(a);(a)=(b);(b)=temp; }
#define	QMF_COPY(p, v, n)   { int32_t i; for (i=0; i<n; i++) p[i]=v[i]; }

Functions
float	sin_approx (float x)
float	cos_approx (float x)
float	atan2_approx (float y, float x)
float	acos_approx (float x)
int32_t	applyDeadband (int32_t value, int32_t deadband)
int	constrain (int amt, int low, int high)
float	constrainf (float amt, float low, float high)
void	devClear (stdev_t *dev)
void	devPush (stdev_t *dev, float x)
float	devVariance (stdev_t *dev)
float	devStandardDeviation (stdev_t *dev)
float	degreesToRadians (int16_t degrees)
int	scaleRange (int x, int srcMin, int srcMax, int destMin, int destMax)
float	scaleRangef (float x, float in_min, float in_max, float out_min, float out_max)
void	normalizeV (struct fp_vector *src, struct fp_vector *dest)
void	matrix_set_identity (matrix_3x3_t mat)
void	buildRotationMatrix (fp_angles_t *delta, float matrix[3][3])
void	rotateV (struct fp_vector *v, fp_angles_t *delta)
int32_t	quickMedianFilter3 (int32_t *v)
int32_t	quickMedianFilter5 (int32_t *v)
int32_t	quickMedianFilter7 (int32_t *v)
int32_t	quickMedianFilter9 (int32_t *v)
void	arraySubInt32 (int32_t *dest, int32_t *array1, int32_t *array2, int count)

Macro Definition Documentation

#define atanPolyCoef1   3.14551665884836e-07f

#define atanPolyCoef2   0.99997356613987f

#define atanPolyCoef3   0.14744007058297684f

#define atanPolyCoef4   0.3099814292351353f

#define atanPolyCoef5   0.05030176425872175f

#define atanPolyCoef6   0.1471039133652469f

#define atanPolyCoef7   0.6444640676891548f

#define QMF_COPY	(		p,
			v,
			n
	)		{ int32_t i; for (i=0; i<n; i++) p[i]=v[i]; }

#define QMF_SORT	(		a,
			b
	)		{ if ((a)>(b)) QMF_SWAP((a),(b)); }

#define QMF_SWAP	(		a,
			b
	)		{ int32_t temp=(a);(a)=(b);(b)=temp; }

#define sinPolyCoef3   -1.666665710e-1f

#define sinPolyCoef5   8.333017292e-3f

#define sinPolyCoef7   -1.980661520e-4f

#define sinPolyCoef9   2.600054768e-6f

Function Documentation

float acos_approx

(

float

x

)

int32_t applyDeadband	(	int32_t	value,
		int32_t	deadband
	)

void arraySubInt32	(	int32_t *	dest,
		int32_t *	array1,
		int32_t *	array2,
		int	count
	)

float atan2_approx	(	float	y,
		float	x
	)

void buildRotationMatrix	(	fp_angles_t *	delta,
		float	matrix[3][3]
	)

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int constrain	(	int	amt,
		int	low,
		int	high
	)

float constrainf	(	float	amt,
		float	low,
		float	high
	)

float cos_approx

(

float

x

)

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float degreesToRadians

(

int16_t

degrees

)

void devClear

(

stdev_t *

dev

)

void devPush	(	stdev_t *	dev,
		float	x
	)

float devStandardDeviation

(

stdev_t *

dev

)

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float devVariance

(

stdev_t *

dev

)

void matrix_set_identity

(

matrix_3x3_t

mat

)

void normalizeV	(	struct fp_vector *	src,
		struct fp_vector *	dest
	)

int32_t quickMedianFilter3

(

int32_t *

v

)

int32_t quickMedianFilter5

(

int32_t *

v

)

int32_t quickMedianFilter7

(

int32_t *

v

)

int32_t quickMedianFilter9

(

int32_t *

v

)

void rotateV	(	struct fp_vector *	v,
		fp_angles_t *	delta
	)

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int scaleRange	(	int	x,
		int	srcMin,
		int	srcMax,
		int	destMin,
		int	destMax
	)

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

float sin_approx

(

float

x

)