Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Utils.h@46:fd5a62296b12, 2015-05-27 (annotated)
- Committer:
- pvaibhav
- Date:
- Wed May 27 13:01:43 2015 +0000
- Revision:
- 46:fd5a62296b12
- Parent:
- 40:8e852115fe55
Code reformatted
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pvaibhav | 40:8e852115fe55 | 1 | #ifndef _H_UTILS_H |
pvaibhav | 40:8e852115fe55 | 2 | #define _H_UTILS_H |
pvaibhav | 40:8e852115fe55 | 3 | |
pvaibhav | 40:8e852115fe55 | 4 | #include "Vector3.h" |
pvaibhav | 40:8e852115fe55 | 5 | |
pvaibhav | 40:8e852115fe55 | 6 | class utils |
pvaibhav | 40:8e852115fe55 | 7 | { |
pvaibhav | 40:8e852115fe55 | 8 | public: |
pvaibhav | 46:fd5a62296b12 | 9 | static float clip(float const minimum, float const val, float const maximum) { |
pvaibhav | 40:8e852115fe55 | 10 | return (val < minimum) ? minimum : ((val > maximum) ? maximum : val); |
pvaibhav | 40:8e852115fe55 | 11 | } |
pvaibhav | 46:fd5a62296b12 | 12 | |
pvaibhav | 46:fd5a62296b12 | 13 | static void debugPortSend(uint8_t const* src, size_t const size) { |
pvaibhav | 46:fd5a62296b12 | 14 | #if defined(DATA_OUTPUT) |
pvaibhav | 40:8e852115fe55 | 15 | putc(0x10, stdout); // marker |
pvaibhav | 40:8e852115fe55 | 16 | for (int i = 0; i < size; i++) { |
pvaibhav | 40:8e852115fe55 | 17 | putc(src[i] & 0x0f, stdout); |
pvaibhav | 40:8e852115fe55 | 18 | putc(src[i] >> 4, stdout); |
pvaibhav | 40:8e852115fe55 | 19 | } |
pvaibhav | 46:fd5a62296b12 | 20 | #endif |
pvaibhav | 40:8e852115fe55 | 21 | } |
pvaibhav | 40:8e852115fe55 | 22 | |
pvaibhav | 40:8e852115fe55 | 23 | static void sendVectorOverUART( const Vector3 a = Vector3(0, 0, 0), |
pvaibhav | 40:8e852115fe55 | 24 | const Vector3 b = Vector3(0, 0, 0), |
pvaibhav | 40:8e852115fe55 | 25 | const Vector3 c = Vector3(0, 0, 0), |
pvaibhav | 46:fd5a62296b12 | 26 | const Vector3 d = Vector3(0, 0, 0)) { |
pvaibhav | 40:8e852115fe55 | 27 | float data[] = { |
pvaibhav | 40:8e852115fe55 | 28 | a.x, a.y, a.z, |
pvaibhav | 40:8e852115fe55 | 29 | b.x, b.y, b.z, |
pvaibhav | 40:8e852115fe55 | 30 | c.x, c.y, c.z, |
pvaibhav | 40:8e852115fe55 | 31 | d.x, d.y, d.z |
pvaibhav | 40:8e852115fe55 | 32 | }; |
pvaibhav | 46:fd5a62296b12 | 33 | |
pvaibhav | 40:8e852115fe55 | 34 | debugPortSend((const uint8_t*) data, sizeof data); |
pvaibhav | 40:8e852115fe55 | 35 | } |
pvaibhav | 46:fd5a62296b12 | 36 | |
pvaibhav | 46:fd5a62296b12 | 37 | static float deg2rad(float const d) { |
pvaibhav | 40:8e852115fe55 | 38 | return d * 0.0174532925f; |
pvaibhav | 40:8e852115fe55 | 39 | } |
pvaibhav | 46:fd5a62296b12 | 40 | |
pvaibhav | 46:fd5a62296b12 | 41 | static float rad2deg(float const r) { |
pvaibhav | 40:8e852115fe55 | 42 | return r * 57.2957795131f; |
pvaibhav | 40:8e852115fe55 | 43 | } |
pvaibhav | 40:8e852115fe55 | 44 | }; |
pvaibhav | 40:8e852115fe55 | 45 | |
pvaibhav | 40:8e852115fe55 | 46 | #endif//_H_UTILS_H |