Federico Luis Pinna Gonzalez / FastAtan2

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Dependents:   FastECompass

FastAtan2.h@1:9110a3da84c9, 2016-06-14 (annotated)

Committer:
Cotzo
Date:
Tue Jun 14 18:00:06 2016 +0000
Revision:
1:9110a3da84c9
Parent:
0:88345d07348b
Child:
2:8bff2a7afea1
Comments added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Cotzo 0:88345d07348b 1 /*
Cotzo 1:9110a3da84c9 2 * FastAtan2.h
Cotzo 0:88345d07348b 3 *
Cotzo 0:88345d07348b 4 * Created on: 22 de may. de 2016
Cotzo 0:88345d07348b 5 * Author: Fede Pinna
Cotzo 0:88345d07348b 6 */
Cotzo 1:9110a3da84c9 7
Cotzo 0:88345d07348b 8 #include "mbed.h"
Cotzo 0:88345d07348b 9
Cotzo 1:9110a3da84c9 10 #ifndef FASTATAN2_H_
Cotzo 1:9110a3da84c9 11 #define FASTATAN2_H_
Cotzo 0:88345d07348b 12
Cotzo 0:88345d07348b 13 #define QFORMAT 15
Cotzo 1:9110a3da84c9 14
Cotzo 1:9110a3da84c9 15 /******************* Constant Q15 ********************/
Cotzo 1:9110a3da84c9 16
Cotzo 1:9110a3da84c9 17 #define PI_Q15 0x19220 // Pi
Cotzo 1:9110a3da84c9 18 #define PI2_Q15 0xC910 // Pi/2
Cotzo 1:9110a3da84c9 19 #define PI4_Q15 0x6488 // Pi/4
Cotzo 1:9110a3da84c9 20 #define PIx2_Q15 0x32440 // 2*Pi
Cotzo 1:9110a3da84c9 21 #define C1 0x1F52 // constante c1 = 0.2447
Cotzo 1:9110a3da84c9 22 #define C2 0x819 // constante c2 = 0.0663
Cotzo 1:9110a3da84c9 23
Cotzo 1:9110a3da84c9 24 /*************** Fixed-point operations ****************/
Cotzo 0:88345d07348b 25
Cotzo 0:88345d07348b 26 #define FSUBI(a,b,q) ((a)-((b)<<(q)))
Cotzo 0:88345d07348b 27 #define FMUL(a,b,q) (((a)*(b))>>(q))
Cotzo 0:88345d07348b 28
Cotzo 1:9110a3da84c9 29 /************** Fixed-point conversions ****************/
Cotzo 1:9110a3da84c9 30
Cotzo 0:88345d07348b 31 #define TOFIX(d,q) ((int32_t)( (d)*(float)(1<<(q)) ))
Cotzo 0:88345d07348b 32 #define TOFLT(a,q) ((float)(a)/(float)(1<<(q)))
Cotzo 1:9110a3da84c9 33
Cotzo 0:88345d07348b 34 #define RAD_Q15_TODEG(rad) ((rad*57)+0x25DC)
Cotzo 0:88345d07348b 35
Cotzo 0:88345d07348b 36
Cotzo 0:88345d07348b 37 int32_t atan_q15(uint32_t x,uint32_t y);
Cotzo 0:88345d07348b 38 int32_t atan2_q15(int32_t x,int32_t y);
Cotzo 0:88345d07348b 39
Cotzo 0:88345d07348b 40
Cotzo 1:9110a3da84c9 41 #endif /* FASTATAN2_H_ */