Aditya Mehrotra / Mbed 2 deprecated dyno_torque_sense_f44

torque sensor thing

Dependencies:   mbed

math_ops.cpp@0:f4f2a7b3364c, 2021-06-21 (annotated)

Committer:
adimmit
Date:
Mon Jun 21 19:50:05 2021 +0000
Revision:
0:f4f2a7b3364c
mostly done - just need to check values

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 0:f4f2a7b3364c 1
adimmit 0:f4f2a7b3364c 2 #include "math_ops.h"
adimmit 0:f4f2a7b3364c 3
adimmit 0:f4f2a7b3364c 4
adimmit 0:f4f2a7b3364c 5 float fmaxf(float x, float y){
adimmit 0:f4f2a7b3364c 6 /// Returns maximum of x, y ///
adimmit 0:f4f2a7b3364c 7 return (((x)>(y))?(x):(y));
adimmit 0:f4f2a7b3364c 8 }
adimmit 0:f4f2a7b3364c 9
adimmit 0:f4f2a7b3364c 10 float fminf(float x, float y){
adimmit 0:f4f2a7b3364c 11 /// Returns minimum of x, y ///
adimmit 0:f4f2a7b3364c 12 return (((x)<(y))?(x):(y));
adimmit 0:f4f2a7b3364c 13 }
adimmit 0:f4f2a7b3364c 14
adimmit 0:f4f2a7b3364c 15 float fmaxf3(float x, float y, float z){
adimmit 0:f4f2a7b3364c 16 /// Returns maximum of x, y, z ///
adimmit 0:f4f2a7b3364c 17 return (x > y ? (x > z ? x : z) : (y > z ? y : z));
adimmit 0:f4f2a7b3364c 18 }
adimmit 0:f4f2a7b3364c 19
adimmit 0:f4f2a7b3364c 20 float fminf3(float x, float y, float z){
adimmit 0:f4f2a7b3364c 21 /// Returns minimum of x, y, z ///
adimmit 0:f4f2a7b3364c 22 return (x < y ? (x < z ? x : z) : (y < z ? y : z));
adimmit 0:f4f2a7b3364c 23 }
adimmit 0:f4f2a7b3364c 24
adimmit 0:f4f2a7b3364c 25 void limit_norm(float *x, float *y, float limit){
adimmit 0:f4f2a7b3364c 26 /// Scales the lenght of vector (x, y) to be <= limit ///
adimmit 0:f4f2a7b3364c 27 float norm = sqrt(*x * *x + *y * *y);
adimmit 0:f4f2a7b3364c 28 if(norm > limit){
adimmit 0:f4f2a7b3364c 29 *x = *x * limit/norm;
adimmit 0:f4f2a7b3364c 30 *y = *y * limit/norm;
adimmit 0:f4f2a7b3364c 31 }
adimmit 0:f4f2a7b3364c 32 }
adimmit 0:f4f2a7b3364c 33
adimmit 0:f4f2a7b3364c 34
adimmit 0:f4f2a7b3364c 35 int float_to_uint(float x, float x_min, float x_max, int bits){
adimmit 0:f4f2a7b3364c 36 /// Converts a float to an unsigned int, given range and number of bits ///
adimmit 0:f4f2a7b3364c 37 float span = x_max - x_min;
adimmit 0:f4f2a7b3364c 38 float offset = x_min;
adimmit 0:f4f2a7b3364c 39 return (int) ((x-offset)*((float)((1<<bits)-1))/span);
adimmit 0:f4f2a7b3364c 40 }
adimmit 0:f4f2a7b3364c 41
adimmit 0:f4f2a7b3364c 42
adimmit 0:f4f2a7b3364c 43 float uint_to_float(int x_int, float x_min, float x_max, int bits){
adimmit 0:f4f2a7b3364c 44 /// converts unsigned int to float, given range and number of bits ///
adimmit 0:f4f2a7b3364c 45 float span = x_max - x_min;
adimmit 0:f4f2a7b3364c 46 float offset = x_min;
adimmit 0:f4f2a7b3364c 47 return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
adimmit 0:f4f2a7b3364c 48 }