Chetan Sharma / Mbed OS HKCC_Controller_MBed_OS

Modifying the HKCC for no readily apparent reason

Dependencies:   FastPWM3

math_ops.cpp@53:e9e1d70532ef, 2021-02-19 (annotated)

Committer:
cactode
Date:
Fri Feb 19 22:27:52 2021 -0800
Revision:
53:e9e1d70532ef
Parent:
47:e1196a851f76 
Porting to MBed OS, initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1
benkatz 47:e1196a851f76 2 #include "../math_ops.h"
benkatz 20:bf9ea5125d52 3
benkatz 20:bf9ea5125d52 4
benkatz 20:bf9ea5125d52 5 float fmaxf3(float x, float y, float z){
benkatz 25:f5741040c4bb 6 /// Returns maximum of x, y, z ///
benkatz 20:bf9ea5125d52 7 return (x > y ? (x > z ? x : z) : (y > z ? y : z));
benkatz 20:bf9ea5125d52 8 }
benkatz 20:bf9ea5125d52 9
benkatz 20:bf9ea5125d52 10 float fminf3(float x, float y, float z){
benkatz 25:f5741040c4bb 11 /// Returns minimum of x, y, z ///
benkatz 20:bf9ea5125d52 12 return (x < y ? (x < z ? x : z) : (y < z ? y : z));
benkatz 20:bf9ea5125d52 13 }
benkatz 20:bf9ea5125d52 14
benkatz 20:bf9ea5125d52 15 void limit_norm(float *x, float *y, float limit){
benkatz 25:f5741040c4bb 16 /// Scales the lenght of vector (x, y) to be <= limit ///
benkatz 20:bf9ea5125d52 17 float norm = sqrt(*x * *x + *y * *y);
benkatz 20:bf9ea5125d52 18 if(norm > limit){
benkatz 20:bf9ea5125d52 19 *x = *x * limit/norm;
benkatz 20:bf9ea5125d52 20 *y = *y * limit/norm;
benkatz 20:bf9ea5125d52 21 }
benkatz 20:bf9ea5125d52 22 }
benkatz 47:e1196a851f76 23
benkatz 47:e1196a851f76 24 void limit(float *x, float min, float max){
benkatz 47:e1196a851f76 25 *x = fmaxf(fminf(*x, max), min);
benkatz 47:e1196a851f76 26 }
benkatz 26:2b865c00d7e9 27
benkatz 26:2b865c00d7e9 28 int float_to_uint(float x, float x_min, float x_max, int bits){
benkatz 47:e1196a851f76 29 /// Converts a float to an unsigned int, given range and number of bits ///
benkatz 26:2b865c00d7e9 30 float span = x_max - x_min;
benkatz 26:2b865c00d7e9 31 float offset = x_min;
benkatz 47:e1196a851f76 32 return (int) ((x-offset)*((float)((1<<bits)-1))/span);
benkatz 26:2b865c00d7e9 33 }
benkatz 26:2b865c00d7e9 34
benkatz 47:e1196a851f76 35
benkatz 26:2b865c00d7e9 36 float uint_to_float(int x_int, float x_min, float x_max, int bits){
benkatz 47:e1196a851f76 37 /// converts unsigned int to float, given range and number of bits ///
benkatz 26:2b865c00d7e9 38 float span = x_max - x_min;
benkatz 26:2b865c00d7e9 39 float offset = x_min;
benkatz 26:2b865c00d7e9 40 return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
benkatz 26:2b865c00d7e9 41 }