utility.c

Go to the documentation of this file.

#include <includes.h>

#ifndef __VERSION_0_1__
#warning RangerOS mismatch, expected v0.1. 
#endif

// ***** Fixed Point ***** //
fixed float_to_fixed(float m){
  return ((fixed)((m) * FIXED_ONE));
}
fixed int_to_fixed(int m){
  return ((fixed)(m<<16));
}
float fixed_to_float(fixed m){
  return ((float)m*FIXED_FLOAT);
}
int fixed_to_int(fixed m){
  return (((fixed)(m))>>16);
}
fixed fixed_mult(fixed a, fixed b){
  return ((fixed)((((long long int)a)*((long long int)b))>>16));
}
long long int fixed_mult_to_long(fixed a, fixed b){
  return (((((long long int)a)*((long long int)b))>>16));
}
fixed linear_to_fixed(int offset, float coeff, int value){
  int a, b, c, d, e;
  a = value;
  b = a - offset; //subtract the offset
  c = -1 * int_to_fixed(b); //convert to fixed point
  d = float_to_fixed(coeff); //convert coefficient to fixed point
  e = fixed_mult(c,d); //multiply gain to get amps in fixed point
  return e;
}
fixed fixed_abs(fixed f){
  if (f < 0){return -f;}
  else{return f;}
}


// ***** Dummy Functions ***** //
void voidvoid(void){error_occurred(ERROR_UTIL_DUMMY);} 
void voidvoid_noerror(void){;} 
void voidint(int a){error_occurred(ERROR_UTIL_DUMMY);}
void voidint_noerror(int a){;}
float floatvoid(void){error_occurred(ERROR_UTIL_DUMMY);return 0.0;}
float floatvoid_noerror(void){return 0.0;}
int intvoid(void){error_occurred(ERROR_UTIL_DUMMY);return 0;}
int intvoid_noerror(void){return 0;}

// ***** TicToc Functions ***** //
int tt_time = 0; 
VOID_INT_F tt_print = voidint; 
void tic_toc_init(VOID_INT_F print_f){
  tt_print = print_f;
}
void tic(void){
  tt_time = T0TC;
}
void toc(void){
  tt_time = (T0TC - tt_time);
  tt_print(tt_time);
  tt_time = 0;
}