Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Simplify Fixed point Math notations

Browse source
This commit is contained in:
borisbstyle 2016-03-03 16:17:10 +01:00
parent 431ca856cf
commit 257865cff2
5 changed files with 25 additions and 38 deletions
Download patch file Download diff file Expand all files Collapse all files

26
src/main/common/maths.h
View file

@ -34,28 +34,16 @@
#define MAX(a, b) ((a) > (b) ? (a) : (b))
#define ABS(x) ((x) > 0 ? (x) : -(x))
#define Q12 (1 << 12)
typedef int32_t fix12_t;
typedef struct stdev_s
{
float m_oldM, m_newM, m_oldS, m_newS;
int m_n;
} stdev_t;
#define Q12(x) ((1 << 12) / x)
#define Q13(x) ((1 << 13) / x)
#define Q14(x) ((1 << 14) / x)
typedef enum {
Q12_NUMBER = 12,
Q13_NUMBER,
Q14_NUMBER
} qTypeIndex_e;
typedef struct q_number_s {
int16_t num;
int16_t den;
} q_number_t;
// Floating point 3 vector.
typedef struct fp_vector {
float X;
@ -125,6 +113,6 @@ float acos_approx(float x);
void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
int16_t qPercent(q_number_t q);
int16_t qMultiply(q_number_t q, int16_t input);
void qConstruct(q_number_t *qNumber, int16_t num, int16_t den, int qType);
int16_t qPercent(fix12_t q);
int16_t qMultiply(fix12_t q, int16_t input);
fix12_t qConstruct(int16_t num, int16_t den);