www.pudn.com > MPL.zip > ml_math_func.h, change:2016-04-15,size:4885b


/* 
 $License: 
    Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. 
    See included License.txt for License information. 
 $ 
 */ 
#ifndef INVENSENSE_INV_MATH_FUNC_H__ 
#define INVENSENSE_INV_MATH_FUNC_H__ 
 
#include "mltypes.h" 
 
#define GYRO_MAG_SQR_SHIFT 6 
#define NUM_ROTATION_MATRIX_ELEMENTS (9) 
#define ROT_MATRIX_SCALE_LONG  (1073741824L) 
#define ROT_MATRIX_SCALE_FLOAT (1073741824.0f) 
#define ROT_MATRIX_LONG_TO_FLOAT( longval ) \ 
    ((float) ((longval) / ROT_MATRIX_SCALE_FLOAT )) 
#define SIGNM(k)((int)(k)&1?-1:1) 
#define SIGNSET(x) ((x) ? -1 : +1) 
 
#define INV_TWO_POWER_NEG_30 9.313225746154785e-010f 
 
#ifdef __cplusplus 
extern "C" { 
#endif 
 
     typedef struct { 
        float state[4]; 
        float c[5]; 
        float input; 
        float output; 
    }   inv_biquad_filter_t; 
 
    static inline float inv_q30_to_float(long q30) 
    { 
        return (float) q30 / ((float)(1L << 30)); 
    } 
 
    static inline double inv_q30_to_double(long q30) 
    { 
        return (double) q30 / ((double)(1L << 30)); 
    } 
 
    static inline float inv_q16_to_float(long q16) 
    { 
        return (float) q16 / (1L << 16); 
    } 
 
    static inline double inv_q16_to_double(long q16) 
    { 
        return (double) q16 / (1L << 16); 
    } 
 
 
 
 
    long inv_q29_mult(long a, long b); 
    long inv_q30_mult(long a, long b); 
 
    /* UMPL_ELIMINATE_64BIT Notes: 
     * An alternate implementation using float instead of long long accudoublemulators 
     * is provided for q29_mult and q30_mult. 
     * When long long accumulators are used and an alternate implementation is not 
     * available, we eliminate the entire function and header with a macro. 
     */ 
#ifndef UMPL_ELIMINATE_64BIT 
    long inv_q30_div(long a, long b); 
    long inv_q_shift_mult(long a, long b, int shift); 
#endif 
 
    void inv_q_mult(const long *q1, const long *q2, long *qProd); 
    void inv_q_add(long *q1, long *q2, long *qSum); 
    void inv_q_normalize(long *q); 
    void inv_q_invert(const long *q, long *qInverted); 
    void inv_q_multf(const float *q1, const float *q2, float *qProd); 
    void inv_q_addf(const float *q1, const float *q2, float *qSum); 
    void inv_q_normalizef(float *q); 
    void inv_q_norm4(float *q); 
    void inv_q_invertf(const float *q, float *qInverted); 
    void inv_quaternion_to_rotation(const long *quat, long *rot); 
    unsigned char *inv_int32_to_big8(long x, unsigned char *big8); 
    long inv_big8_to_int32(const unsigned char *big8); 
    short inv_big8_to_int16(const unsigned char *big8); 
    short inv_little8_to_int16(const unsigned char *little8); 
    unsigned char *inv_int16_to_big8(short x, unsigned char *big8); 
    float inv_matrix_det(float *p, int *n); 
    void inv_matrix_det_inc(float *a, float *b, int *n, int x, int y); 
    double inv_matrix_detd(double *p, int *n); 
    void inv_matrix_det_incd(double *a, double *b, int *n, int x, int y); 
    float inv_wrap_angle(float ang); 
    float inv_angle_diff(float ang1, float ang2); 
    void inv_quaternion_to_rotation_vector(const long *quat, long *rot); 
    unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx); 
    void inv_convert_to_body(unsigned short orientation, const long *input, long *output); 
    void inv_convert_to_chip(unsigned short orientation, const long *input, long *output); 
    void inv_convert_to_body_with_scale(unsigned short orientation, long sensitivity, const long *input, long *output); 
    void inv_q_rotate(const long *q, const long *in, long *out); 
	void inv_vector_normalize(long *vec, int length); 
    uint32_t inv_checksum(const unsigned char *str, int len); 
    float inv_compass_angle(const long *compass, const long *grav, 
                            const long *quat); 
    unsigned long inv_get_gyro_sum_of_sqr(const long *gyro); 
 
#ifdef EMPL 
    float inv_sinf(float x); 
    float inv_cosf(float x); 
    /* eMPL timestamps are assumed to be in milliseconds. */ 
    static inline long inv_delta_time_ms(inv_time_t t1, inv_time_t t2) 
    { 
        return (long)((t1 - t2)); 
    } 
#else 
    static inline long inv_delta_time_ms(inv_time_t t1, inv_time_t t2) 
    { 
        return (long)((t1 - t2) / 1000000L); 
    } 
#endif 
 
    double quaternion_to_rotation_angle(const long *quat); 
    double inv_vector_norm(const float *x); 
 
    void inv_init_biquad_filter(inv_biquad_filter_t *pFilter, float *pBiquadCoeff); 
    float inv_biquad_filter_process(inv_biquad_filter_t *pFilter, float input); 
    void inv_calc_state_to_match_output(inv_biquad_filter_t *pFilter, float input); 
    void inv_get_cross_product_vec(float *cgcross, float compass[3], float grav[3]); 
 
    void mlMatrixVectorMult(long matrix[9], const long vecIn[3], long *vecOut); 
 
#ifdef __cplusplus 
} 
#endif 
#endif // INVENSENSE_INV_MATH_FUNC_H__