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https://gitee.com/dlmu-cone/half-steering-basic-framework
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139 lines
3.5 KiB
C
139 lines
3.5 KiB
C
/**
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******************************************************************************
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* @file user_lib.h
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* @author Wang Hongxi
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* @version V1.0.0
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* @date 2021/2/18
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* @brief
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******************************************************************************
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* @attention
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*
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******************************************************************************
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*/
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#ifndef _USER_LIB_H
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#define _USER_LIB_H
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#include "stdint.h"
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#include "main.h"
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#include "cmsis_os.h"
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#include "stm32f407xx.h"
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#include "arm_math.h"
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#ifndef user_malloc
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#ifdef _CMSIS_OS_H
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#define user_malloc pvPortMalloc
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#else
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#define user_malloc malloc
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#endif
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#endif
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#define msin(x) (arm_sin_f32(x))
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#define mcos(x) (arm_cos_f32(x))
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typedef arm_matrix_instance_f32 mat;
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// 若运算速度不够,可以使用q31代替f32,但是精度会降低
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#define MatAdd arm_mat_add_f32
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#define MatSubtract arm_mat_sub_f32
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#define MatMultiply arm_mat_mult_f32
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#define MatTranspose arm_mat_trans_f32
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#define MatInverse arm_mat_inverse_f32
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void MatInit(mat *m, uint8_t row, uint8_t col);
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/* boolean type definitions */
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#ifndef TRUE
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#define TRUE 1 /**< boolean true */
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#endif
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#ifndef FALSE
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#define FALSE 0 /**< boolean fails */
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#endif
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/* circumference ratio */
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#ifndef PI
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#define PI 3.14159265354f
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#endif
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#define VAL_LIMIT(val, min, max) \
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do \
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{ \
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if ((val) <= (min)) \
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{ \
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(val) = (min); \
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} \
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else if ((val) >= (max)) \
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{ \
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(val) = (max); \
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} \
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} while (0)
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#define ANGLE_LIMIT_360(val, angle) \
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do \
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{ \
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(val) = (angle) - (int)(angle); \
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(val) += (int)(angle) % 360; \
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} while (0)
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#define ANGLE_LIMIT_360_TO_180(val) \
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do \
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{ \
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if ((val) > 180) \
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(val) -= 360; \
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} while (0)
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/**
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* @brief 将±360以内的角度，限制角度在-180 ~ 180
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*
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*/
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#define ANGLE_LIMIT_360_TO_180_ABS(val) \
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do { \
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if ((val) > 180) \
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(val) -= 360; \
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if ((val) < -180) \
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(val) += 360; \
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} while (0)
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#define VAL_MIN(a, b) ((a) < (b) ? (a) : (b))
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#define VAL_MAX(a, b) ((a) > (b) ? (a) : (b))
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/**
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* @brief 返回一块干净的内<E79A84>?,不过仍然需要强制转<E588B6>?为你需要的类型
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*
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* @param size 分配大小
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* @return void*
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*/
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void *zmalloc(size_t size);
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// <20><><EFBFBD>ٿ<EFBFBD><D9BF><EFBFBD>
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float Sqrt(float x);
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float abs_limit(float num, float Limit);
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// <20>жϷ<D0B6><CFB7><EFBFBD>λ
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float sign(float value);
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float float_deadband(float Value, float minValue, float maxValue);
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// <20><EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
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float float_constrain(float Value, float minValue, float maxValue);
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// <20><EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
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int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue);
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// ѭ<><D1AD><EFBFBD><EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD>
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float loop_float_constrain(float Input, float minValue, float maxValue);
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// <20>Ƕ<EFBFBD> <20><><EFBFBD><EFBFBD> 180 ~ -180
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float theta_format(float Ang);
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int float_rounding(float raw);
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float *Norm3d(float *v);
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float NormOf3d(float *v);
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void Cross3d(float *v1, float *v2, float *res);
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float Dot3d(float *v1, float *v2);
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float AverageFilter(float new_data, float *buf, uint8_t len);
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#define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)
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#endif
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