Utils.h File Reference
General purpose macros.
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#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
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#define | MIN(A, B) ((A) <= (B) ? (A) : (B)) |
| returns the minimum of A, B
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#define | ABS(C) ((C) >= (0) ? (C) : (-C)) |
| returns the absolute value of C
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#define | LIM(A, L) (A)=MIN(MAX(A,-L),L) |
| reassigns A so that it is limited by +/- L (arg +L)
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#define | WRAPSUP(A, ANG) ((A) > (ANG) ? (A-_IQmpy(ANG,2)) : (A)) |
| wrap max angle to ANG
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#define | WRAPINF(A, ANG) ((A) < (ANG) ? (A+_IQmpy(ANG,2)) : (A)) |
| wrap min angle to ANG
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#define | WRAP(A, ANG) (A) = WRAPINF(WRAPSUP(A,ANG),-ANG) |
| wrap min, max angle to ANG
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#define | WRAPSUP2PI(A) ((A) > (PI) ? (A-TWOPI) : (A)) |
| wrap max angle to PI
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#define | WRAPINF2PI(A) ((A) < (-PI) ? (A+TWOPI) : (A)) |
| wrap min angle to PI
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#define | WRAP2PI(A) (A) = WRAPINF2PI(WRAPSUP2PI(A)) |
| wrap min, max angle to PI
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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) |
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 |
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C |
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((C) >= (0) ? (C) : (-C)) |
returns the absolute value of C
Definition at line 63 of file Utils.h.
#define LIM |
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A, |
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L |
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(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 |
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A, |
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B |
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((A) >= (B) ? (A) : (B)) |
returns the maximum of A, B
Definition at line 57 of file Utils.h.
#define MIN |
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A, |
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B |
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((A) <= (B) ? (A) : (B)) |
returns the minimum of A, B
Definition at line 59 of file Utils.h.
#define WRAP |
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A, |
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ANG |
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(A) = WRAPINF(WRAPSUP(A,ANG),-ANG) |
wrap min, max angle to ANG
Definition at line 71 of file Utils.h.
#define WRAP2PI |
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A |
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(A) = WRAPINF2PI(WRAPSUP2PI(A)) |
wrap min, max angle to PI
Definition at line 78 of file Utils.h.
#define WRAPINF |
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A, |
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ANG |
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((A) < (ANG) ? (A+_IQmpy(ANG,2)) : (A)) |
wrap min angle to ANG
Definition at line 69 of file Utils.h.
#define WRAPINF2PI |
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A |
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((A) < (-PI) ? (A+TWOPI) : (A)) |
wrap min angle to PI
Definition at line 76 of file Utils.h.
#define WRAPSUP |
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A, |
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ANG |
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((A) > (ANG) ? (A-_IQmpy(ANG,2)) : (A)) |
wrap max angle to ANG
Definition at line 67 of file Utils.h.
#define WRAPSUP2PI |
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A |
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((A) > (PI) ? (A-TWOPI) : (A)) |
wrap max angle to PI
Definition at line 74 of file Utils.h.
Function Documentation
static _iq GetMax |
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volatile _iq * |
a, |
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volatile _iq * |
b, |
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volatile _iq ** |
ptrMax | |
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| | [inline, static] |
return the maximum of two numbers and a pointer to the address of maximum variable
- Parameters:
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| 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 |
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volatile _iq * |
a, |
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volatile _iq * |
b, |
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volatile _iq ** |
ptrMin | |
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| | [inline, static] |
return the minimum of two numbers and a pointer to the address of minimum variable
- Parameters:
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| 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.