Utils.h File Reference

General purpose macros. More...

#include "IQConstants.h"

Go to the source code of this file.

Defines
#define	MAX(A, B)   ((A) >= (B) ? (A) : (B))
	returns the maximum of A, B
#define	MIN(A, B)   ((A) <= (B) ? (A) : (B))
	returns the minimum of A, B
#define	ABS(C)   ((C) >= (0) ? (C) : (-C))
	returns the absolute value of C
#define	LIM(A, L)   (A)=MIN(MAX(A,-L),L)
	reassigns A so that it is limited by +/- L (arg +L)
#define	WRAPSUP(A, ANG)   ((A) > (ANG) ? (A-_IQmpy(ANG,2)) : (A))
	wrap max angle to ANG
#define	WRAPINF(A, ANG)   ((A) < (ANG) ? (A+_IQmpy(ANG,2)) : (A))
	wrap min angle to ANG
#define	WRAP(A, ANG)   (A) = WRAPINF(WRAPSUP(A,ANG),-ANG)
	wrap min, max angle to ANG
#define	WRAPSUP2PI(A)   ((A) > (PI) ? (A-TWOPI) : (A))
	wrap max angle to PI
#define	WRAPINF2PI(A)   ((A) < (-PI) ? (A+TWOPI) : (A))
	wrap min angle to PI
#define	WRAP2PI(A)   (A) = WRAPINF2PI(WRAPSUP2PI(A))
	wrap min, max angle to PI
Functions
static _iq	GetMax (volatile _iq *a, volatile _iq *b, volatile _iq **ptrMax)
static _iq	GetMin (volatile _iq *a, volatile _iq *b, volatile _iq **ptrMin)

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Detailed Description

General purpose macros.

File Name : Utils.h Project : TIMotorLIB

TI Doc: na

Author:

Pablo Garcia (pgarcia@isa.uniovi.es)

Date:

2007

Definition in file Utils.h.

---

Define Documentation

#define ABS

(

C

)

((C) >= (0) ? (C) : (-C))

returns the absolute value of C

Definition at line 63 of file Utils.h.

#define LIM	(	A,
		L		)	(A)=MIN(MAX(A,-L),L)

reassigns A so that it is limited by +/- L (arg +L)

Definition at line 65 of file Utils.h.

#define MAX	(	A,
		B		)	((A) >= (B) ? (A) : (B))

returns the maximum of A, B

Definition at line 57 of file Utils.h.

#define MIN	(	A,
		B		)	((A) <= (B) ? (A) : (B))

returns the minimum of A, B

Definition at line 59 of file Utils.h.

#define WRAP	(	A,
		ANG		)	(A) = WRAPINF(WRAPSUP(A,ANG),-ANG)

wrap min, max angle to ANG

Definition at line 71 of file Utils.h.

#define WRAP2PI

(

A

)

(A) = WRAPINF2PI(WRAPSUP2PI(A))

wrap min, max angle to PI

Definition at line 78 of file Utils.h.

#define WRAPINF	(	A,
		ANG		)	((A) < (ANG) ? (A+_IQmpy(ANG,2)) : (A))

wrap min angle to ANG

Definition at line 69 of file Utils.h.

#define WRAPINF2PI

(

A

)

((A) < (-PI) ? (A+TWOPI) : (A))

wrap min angle to PI

Definition at line 76 of file Utils.h.

#define WRAPSUP	(	A,
		ANG		)	((A) > (ANG) ? (A-_IQmpy(ANG,2)) : (A))

wrap max angle to ANG

Definition at line 67 of file Utils.h.

#define WRAPSUP2PI

(

A

)

((A) > (PI) ? (A-TWOPI) : (A))

wrap max angle to PI

Definition at line 74 of file Utils.h.

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Function Documentation

static _iq GetMax	(	volatile _iq *	a,
		volatile _iq *	b,
		volatile _iq **	ptrMax
	)			[inline, static]

return the maximum of two numbers and a pointer to the address of maximum variable

Parameters:

	a,:	pointer to first number
	b,:	pointer to second number
	ptrMax,:	address of the maximum variable RETURNS:

Returns:

: maximum value

Definition at line 97 of file Utils.h.

static _iq GetMin	(	volatile _iq *	a,
		volatile _iq *	b,
		volatile _iq **	ptrMin
	)			[inline, static]

return the minimum of two numbers and a pointer to the address of minimum variable

Parameters:

	a,:	pointer to first number
	b,:	pointer to second number
	ptrMin,:	address of the minimum variable

Returns:

: minimum value

Definition at line 118 of file Utils.h.