MicroRally/uDCCD
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Could be working version

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This commit is contained in:
Andis Zīle
2024-04-12 15:18:31 +03:00
parent 5bb3ebe1bf
commit f8b62d4b00
19 changed files with 632 additions and 53 deletions
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6
firmware/src/utils/interpolate.cpp
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@@ -131,7 +131,7 @@ uint16_t util::interpolate_2d(uint16_t x, uint16_t y, uint16_t* x_axis, uint8_t
return interpolate(y, y0, y1, zy0, zy1);
}
uint16_t interpolate(uint16_t x, uint16_t x0, uint16_t x1, uint16_t y0, uint16_t y1)
uint16_t util::interpolate(uint16_t x, uint16_t x0, uint16_t x1, uint16_t y0, uint16_t y1)
{
int32_t dy = (int32_t)y1 - (int32_t)y0;
int32_t dx = (int32_t)x1 - (int32_t)x0;
@@ -144,7 +144,7 @@ uint16_t interpolate(uint16_t x, uint16_t x0, uint16_t x1, uint16_t y0, uint16_t
return util::sat_cast(y);
}
uint8_t find_interval_end_index(uint16_t val, uint16_t* axis_values, uint8_t len_axis)
uint8_t util::find_interval_end_index(uint16_t val, uint16_t* axis_values, uint8_t len_axis)
{
for(uint8_t i=0; i<len_axis; i++)
{
@@ -155,7 +155,7 @@ uint8_t find_interval_end_index(uint16_t val, uint16_t* axis_values, uint8_t len
return len_axis;
}
uint16_t index2d_to_index1d(uint8_t ix, uint8_t iy, uint8_t len_x)
uint16_t util::index2d_to_index1d(uint8_t ix, uint8_t iy, uint8_t len_x)
{
return ((uint16_t)len_x * iy) + ix;
}

9
firmware/src/utils/utils.cpp
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@@ -152,4 +152,13 @@ uint16_t util::percent_to_16b(uint8_t percent)
return pwm;
}
uint16_t util::percent_of(uint8_t percent, uint16_t value)
{
if(percent == 0) return 0;
else if(percent >= 100) return value;
uint32_t temp = (uint32_t)value * percent;
return temp/100;
}
/**** Private function definitions ****/

2
firmware/src/utils/utils.h
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@@ -19,6 +19,8 @@ uint16_t sat_div_kilo(uint16_t top, uint16_t bot);
uint16_t sat_ratio(uint16_t top, uint16_t bot);
uint16_t percent_to_16b(uint8_t percent);
uint16_t percent_of(uint8_t percent, uint16_t value);
uint8_t sat_add(uint8_t x, uint8_t y);
uint16_t sat_add(uint16_t x, uint16_t y);
uint32_t sat_add(uint32_t x, uint32_t y);