yezhong yezhong / yuanshi_main_controller_copy2

1

Dependencies:   mbed-dev-f303

math_ops/math_ops.cpp@3:ac1062c23c49, 2022-02-22 (annotated)

Committer:
yezhong
Date:
Tue Feb 22 14:31:06 2022 +0000
Revision:
3:ac1062c23c49
Parent:
0:d80c66cb1b3a 
11

Who changed what in which revision?

UserRevisionLine numberNew contents of line
panzhan 0:d80c66cb1b3a 1
panzhan 0:d80c66cb1b3a 2 #include "math_ops.h"
panzhan 0:d80c66cb1b3a 3
panzhan 0:d80c66cb1b3a 4
panzhan 0:d80c66cb1b3a 5 float fmaxf(float x, float y){
panzhan 0:d80c66cb1b3a 6 /// Returns maximum of x, y ///
panzhan 0:d80c66cb1b3a 7 return (((x)>(y))?(x):(y));
panzhan 0:d80c66cb1b3a 8 }
panzhan 0:d80c66cb1b3a 9
panzhan 0:d80c66cb1b3a 10 float fminf(float x, float y){
panzhan 0:d80c66cb1b3a 11 /// Returns minimum of x, y ///
panzhan 0:d80c66cb1b3a 12 return (((x)<(y))?(x):(y));
panzhan 0:d80c66cb1b3a 13 }
panzhan 0:d80c66cb1b3a 14
panzhan 0:d80c66cb1b3a 15 float fmaxf3(float x, float y, float z){
panzhan 0:d80c66cb1b3a 16 /// Returns maximum of x, y, z ///
panzhan 0:d80c66cb1b3a 17 return (x > y ? (x > z ? x : z) : (y > z ? y : z));
panzhan 0:d80c66cb1b3a 18 }
panzhan 0:d80c66cb1b3a 19
panzhan 0:d80c66cb1b3a 20 float fminf3(float x, float y, float z){
panzhan 0:d80c66cb1b3a 21 /// Returns minimum of x, y, z ///
panzhan 0:d80c66cb1b3a 22 return (x < y ? (x < z ? x : z) : (y < z ? y : z));
panzhan 0:d80c66cb1b3a 23 }
panzhan 0:d80c66cb1b3a 24
panzhan 0:d80c66cb1b3a 25 void limit_norm(float *x, float *y, float limit){
panzhan 0:d80c66cb1b3a 26 /// Scales the lenght of vector (x, y) to be <= limit ///
panzhan 0:d80c66cb1b3a 27 float norm = sqrt(*x * *x + *y * *y);
panzhan 0:d80c66cb1b3a 28 if(norm > limit){
panzhan 0:d80c66cb1b3a 29 *x = *x * limit/norm;
panzhan 0:d80c66cb1b3a 30 *y = *y * limit/norm;
panzhan 0:d80c66cb1b3a 31 }
panzhan 0:d80c66cb1b3a 32 }
panzhan 0:d80c66cb1b3a 33
panzhan 0:d80c66cb1b3a 34
panzhan 0:d80c66cb1b3a 35 int float_to_uint(float x, float x_min, float x_max, int bits){
panzhan 0:d80c66cb1b3a 36 /// Converts a float to an unsigned int, given range and number of bits ///
panzhan 0:d80c66cb1b3a 37 float span = x_max - x_min;
panzhan 0:d80c66cb1b3a 38 float offset = x_min;
panzhan 0:d80c66cb1b3a 39 return (int) ((x-offset)*((float)((1<<bits)-1))/span);
panzhan 0:d80c66cb1b3a 40 }
panzhan 0:d80c66cb1b3a 41
panzhan 0:d80c66cb1b3a 42
panzhan 0:d80c66cb1b3a 43 float uint_to_float(int x_int, float x_min, float x_max, int bits){
panzhan 0:d80c66cb1b3a 44 /// converts unsigned int to float, given range and number of bits ///
panzhan 0:d80c66cb1b3a 45 float span = x_max - x_min;
panzhan 0:d80c66cb1b3a 46 float offset = x_min;
panzhan 0:d80c66cb1b3a 47 return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
panzhan 0:d80c66cb1b3a 48 }