Federico Luis Pinna Gonzalez / FastAtan2

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Dependents:   FastECompass

Diff: FastAtan2.h

Revision:
1:9110a3da84c9
Parent:
0:88345d07348b
Child:
2:8bff2a7afea1
--- a/FastAtan2.h	Tue Jun 14 17:02:30 2016 +0000
+++ b/FastAtan2.h	Tue Jun 14 18:00:06 2016 +0000
@@ -1,27 +1,36 @@
 /*
- * MathFunc.h
+ * FastAtan2.h
  *
  *  Created on: 22 de may. de 2016
  *      Author: Fede Pinna
  */
+ 
 #include "mbed.h"
 
-#ifndef FASTATAN_H_
-#define FASTATAN_H_
+#ifndef FASTATAN2_H_
+#define FASTATAN2_H_
 
 #define QFORMAT 15
-#define PI_Q15 0x19220 // Pi fp16
-#define PI2_Q15 0xC910 // Pi/2 fp16
-#define PI4_Q15 0x6488// Pi/4 fp16
-#define PIx2_Q15 0x32440
-#define C1 0x1F52 // constante c1 = 0.2447
-#define C2 0x819 //	constante c2 = 0.0663
+
+/******************* Constant Q15 ********************/ 
+
+#define PI_Q15 0x19220 		// Pi 
+#define PI2_Q15 0xC910 		// Pi/2 
+#define PI4_Q15 0x6488		// Pi/4 
+#define PIx2_Q15 0x32440	// 2*Pi 
+#define C1 0x1F52 			// constante c1 = 0.2447
+#define C2 0x819 			//	constante c2 = 0.0663
+
+/*************** Fixed-point operations ****************/ 
 
 #define FSUBI(a,b,q) ((a)-((b)<<(q)))
 #define FMUL(a,b,q) (((a)*(b))>>(q))
 
+/************** Fixed-point conversions ****************/
+ 
 #define TOFIX(d,q) ((int32_t)( (d)*(float)(1<<(q)) ))
 #define TOFLT(a,q) ((float)(a)/(float)(1<<(q)))
+
 #define RAD_Q15_TODEG(rad) ((rad*57)+0x25DC)
 
 
@@ -29,4 +38,4 @@
 int32_t atan2_q15(int32_t x,int32_t y);
 
 
-#endif /* FASTATAN_H_ */
+#endif /* FASTATAN2_H_ */