26 lines
832 B
C
26 lines
832 B
C
#ifndef __MY_MATH_H
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#define __MY_MATH_H
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extern const float M_PI;
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extern const float AtR;
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extern const float RtA;
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extern const float Gyro_G;
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extern const float Gyro_Gr;
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#define PI 3.1415926f
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#define squa( Sq ) (((float)Sq)*((float)Sq))
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#define absu16( Math_X ) ((Math_X)<0? -(Math_X):(Math_X))
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#define absFloat( Math_X )((Math_X)<0? -(Math_X):(Math_X))
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#define min(a, b) ((a) < (b) ? (a) : (b))
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#define max(a, b) ((a) > (b) ? (a) : (b))
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#define ABS(x) ((x) > 0 ? (x) : -(x))
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#define LIMIT( x,min,max ) ( (x) < (min) ? (min) : ( (x) > (max) ? (max) : (x) ) )
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extern float safe_asin(float v);
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extern float arcsin(float x);
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extern float arctan(float x);
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extern float sine(float x);
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extern float cosine(float x);
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extern float Q_rsqrt(float number);
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extern float VariableParameter(float error);
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#endif /* __Algorithm_math_H */
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