Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Diff: Utils.h
- Revision:
- 46:fd5a62296b12
- Parent:
- 40:8e852115fe55
--- a/Utils.h Wed May 27 11:45:00 2015 +0000 +++ b/Utils.h Wed May 27 13:01:43 2015 +0000 @@ -6,44 +6,39 @@ class utils { public: - static float clip(float const minimum, float const val, float const maximum) - { + static float clip(float const minimum, float const val, float const maximum) { return (val < minimum) ? minimum : ((val > maximum) ? maximum : val); } - - static void debugPortSend(uint8_t const* src, size_t const size) - { - #if defined(DATA_OUTPUT) + + static void debugPortSend(uint8_t const* src, size_t const size) { +#if defined(DATA_OUTPUT) putc(0x10, stdout); // marker for (int i = 0; i < size; i++) { putc(src[i] & 0x0f, stdout); putc(src[i] >> 4, stdout); } - #endif +#endif } static void sendVectorOverUART( const Vector3 a = Vector3(0, 0, 0), const Vector3 b = Vector3(0, 0, 0), const Vector3 c = Vector3(0, 0, 0), - const Vector3 d = Vector3(0, 0, 0)) - { + const Vector3 d = Vector3(0, 0, 0)) { float data[] = { a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z, d.x, d.y, d.z }; - + debugPortSend((const uint8_t*) data, sizeof data); } - - static float deg2rad(float const d) - { + + static float deg2rad(float const d) { return d * 0.0174532925f; } - - static float rad2deg(float const r) - { + + static float rad2deg(float const r) { return r * 57.2957795131f; } };