| /* |
| $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 float *quat); |
| unsigned long inv_get_gyro_sum_of_sqr(const long *gyro); |
| |
| static inline long inv_delta_time_ms(inv_time_t t1, inv_time_t t2) |
| { |
| return (long)((t1 - t2) / 1000000L); |
| } |
| |
| 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]); |
| |
| #ifdef __cplusplus |
| } |
| #endif |
| #endif // INVENSENSE_INV_MATH_FUNC_H__ |