Updated math library

geosmall · Dec 27, 2022 · 33b879a · 33b879a
1 parent e00b358
commit 33b879a
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Showing 9 changed files with 38 additions and 278 deletions.
diff --git a/libraries/math/butterworth.c b/libraries/math/butterworth.c
@@ -1,35 +1,5 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Butterworth low pass filter
- * @{
- *
- * @file       butterworth.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
- * @brief      Direct form two of a second order Butterworth low pass filter
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "math.h"
+#include <math.h>
+#include <uvos_math.h>
 #include "butterworth.h"
 
 /**

diff --git a/libraries/math/butterworth.h b/libraries/math/butterworth.h
@@ -1,33 +1,3 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Butterworth low pass filter
- * @{
- *
- * @file       butterworth.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
- * @brief      Direct form two of a second order Butterworth low pass filter
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
 #ifndef BUTTERWORTH_H
 #define BUTTERWORTH_H
 
@@ -38,9 +8,17 @@ struct ButterWorthDF2Filter {
     float a2;
 };
 
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
 // Function declarations
 void InitButterWorthDF2Filter(const float ff, struct ButterWorthDF2Filter *filterPtr);
 void InitButterWorthDF2Values(const float x0, const struct ButterWorthDF2Filter *filterPtr, float *wn1Ptr, float *wn2Ptr);
 float FilterButterWorthDF2(const float xn, const struct ButterWorthDF2Filter *filterPtr, float *wn1Ptr, float *wn2Ptr);
 
+#ifdef __cplusplus
+} // extern "C"
+#endif // __cplusplus
+
 #endif
diff --git a/libraries/math/mathmisc.c b/libraries/math/mathmisc.c
@@ -1,34 +1,3 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Reuseable math functions
- * @{
- *
- * @file       mathmisc.c
- * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
- *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      Reuseable math functions
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
 #include <mathmisc.h>
 
 void pseudo_windowed_variance_init(pw_variance_t *variance, int32_t window_size)

diff --git a/libraries/math/mathmisc.h b/libraries/math/mathmisc.h
@@ -1,34 +1,3 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Reuseable math functions
- * @{
- *
- * @file       mathmisc.h
- * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
- *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      Reuseable math functions
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
 #ifndef MATHMISC_H
 #define MATHMISC_H
 
@@ -42,6 +11,10 @@ typedef struct {
     float new_smsa;
 } pw_variance_t;
 
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
 /***
  * initialize pseudo windowed
  * @param variance the instance to be initialized
@@ -176,4 +149,8 @@ static inline float fastPow(float a, float b)
     return (float)u.d;
 }
 
+#ifdef __cplusplus
+} // extern "C"
+#endif // __cplusplus
+
 #endif /* MATHMISC_H */
diff --git a/libraries/math/pid.c b/libraries/math/pid.c
@@ -1,37 +1,6 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Sine and cosine methods that use a cached lookup table
- * @{
- *
- * @file       pid.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      Methods to work with PID structure
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
 #include "pid.h"
 #include <mathmisc.h>
-#include <pios_math.h>
+#include <uvos_math.h>
 
 // ! Store the shared time constant for the derivative cutoff.
 static float deriv_tau   = 7.9577e-3f;

diff --git a/libraries/math/pid.h b/libraries/math/pid.h
@@ -1,36 +1,8 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Sine and cosine methods that use a cached lookup table
- * @{
- *
- * @file       pid.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      Methods to work with PID structure
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
 #ifndef PID_H
 #define PID_H
 
+#include <stdint.h>
+#include <stdbool.h>
 #include "mathmisc.h"
 
 // !
@@ -68,6 +40,10 @@ typedef struct pid_scaler_s {
     float d;
 } pid_scaler;
 
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
 // ! Methods to use the pid structures
 float pid_apply(struct pid *pid, const float err, float dT);
 float pid_apply_setpoint(struct pid *pid, const pid_scaler *scaler, const float setpoint, const float measured, float dT, bool meas_based_d_term);
@@ -80,4 +56,8 @@ void pid2_configure(struct pid2 *pid, float kp, float ki, float kd, float Tf, fl
 void pid2_transfer(struct pid2 *pid, float u0);
 float pid2_apply(struct pid2 *pid, const float r, const float y, float ulow, float uhigh);
 
+#ifdef __cplusplus
+} // extern "C"
+#endif // __cplusplus
+
 #endif /* PID_H */
diff --git a/libraries/math/sin_lookup.c b/libraries/math/sin_lookup.c
@@ -1,38 +1,7 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Sine and cosine methods that use a cached lookup table
- * @{
- *
- * @file       sin_lookup.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      Sine lookup table from flash with 1 degree resolution
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
 #include "math.h"
 #include "stdbool.h"
 #include "stdint.h"
-#include <pios_math.h>
+// #include <pios_math.h>
 
 #define FLASH_TABLE
 #ifdef FLASH_TABLE

diff --git a/libraries/math/sin_lookup.h b/libraries/math/sin_lookup.h
@@ -1,40 +1,18 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilot Math Utilities
- * @{
- * @addtogroup Sine and cosine methods that use a cached lookup table
- * @{
- *
- * @file       sin_lookup.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      Sine lookup table from flash with 1 degree resolution
- *
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
 #ifndef SIN_LOOKUP_H
 #define SIN_LOOKUP_H
 
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
 int sin_lookup_initalize();
 float sin_lookup_deg(float angle);
 float cos_lookup_deg(float angle);
 float sin_lookup_rad(float angle);
 float cos_lookup_rad(float angle);
 
+#ifdef __cplusplus
+} // extern "C"
+#endif // __cplusplus
+
 #endif