ccny_asctec_firmware_2: comm_util

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00001 #ifndef COMM_UTIL_LL_H
00002 #define COMM_UTIL_LL_H
00003 
00004 #include <stdint.h>
00005 #include <math.h>
00006 
00007 #define GRAVITY_SI      9.810665            // in SI m/s^2
00008 //#define GRAVITY_COMM    GRAVITY_SI * 1000.0 // in Comm  mm/s^2
00009 
00010 inline float degreesToRadians(float angle);
00011 inline float radiansToDegrees(float angle);
00012 
00013 inline float LLToSIClimb(int16_t climb);
00014 
00015 // ****************** accel ***********************
00016 
00017 inline float LLToSIAccX(int16_t acc);
00018 inline float LLToSIAccY(int16_t acc);
00019 inline float LLToSIAccZ(int16_t acc);
00020 
00021 /*
00022 inline int32_t LLtoCommAccX(int16_t acc, float g);
00023 inline int32_t LLtoCommAccY(int16_t acc, float g);
00024 inline int32_t LLtoCommAccZ(int16_t acc, float g);
00025 */
00026 // ****************** angle rate ***********************
00027 
00028 inline float LLToSIAngleRateYaw  (int16_t angle_rate);
00029 inline float LLToSIAngleRateRoll (int16_t angle_rate);
00030 inline float LLToSIAngleRatePitch(int16_t angle_rate);
00031 //inline int32_t LLtoCommAngleRateYaw(int16_t angle_rate);
00032 
00033 // ****************** angle ***********************
00034 
00035 inline float LLToSIAngleRoll(int16_t angle);
00036 inline float LLToSIAnglePitch(int16_t angle);
00037 inline float LLToSIAngleYaw(uint16_t angle);
00038 
00039 /*
00040 inline uint16_t LLtoCommAngleRoll (int16_t angle);
00041 inline uint16_t LLtoCommAnglePitch(int16_t angle);
00042 inline uint16_t LLtoCommAngleYaw  (uint16_t angle);
00043 */
00044 // **** for direct motor control
00045 
00046 inline short SIToLLCmdRoll   (float angle_cmd);
00047 inline short SIToLLCmdPitch  (float angle_cmd);
00048 inline short SIToLLCmdYawRate(float yaw_rate_cmd);
00049 inline short SIToLLCmdThrust (float thrust_cmd);
00050 /*
00051 inline short commToLLCmdRoll    (int16_t cmd_roll);
00052 inline short commToLLCmdPitch   (int16_t cmd_pitch);
00053 inline short commToLLCmdYawRate (int32_t cmd_yaw_rate);
00054 inline short commToLLCmdThrust  (int16_t cmd_thrust);
00055 */
00056 #endif // COMM_UTIL_H