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Diffstat (limited to 'nuttx/include/fixedmath.h')
| -rw-r--r-- | nuttx/include/fixedmath.h | 205 |
1 files changed, 205 insertions, 0 deletions
diff --git a/nuttx/include/fixedmath.h b/nuttx/include/fixedmath.h new file mode 100644 index 000000000..08eda0248 --- /dev/null +++ b/nuttx/include/fixedmath.h @@ -0,0 +1,205 @@ +/**************************************************************************** + * include/fixedmath.h + * + * Copyright (C) 2008 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#ifndef __INCLUDE_FIXEDMATH_H +#define __INCLUDE_FIXEDMATH_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <sys/types.h> + +/************************************************************************** + * Definitions + **************************************************************************/ + +/* Common numbers */ + +#define b8HUNDRED 0x6400 /* 100 */ +#define b8TEN 0x0a00 /* 10 */ +#define b8ONE 0x0100 /* 1 */ +#define b8HALF 0x0080 /* 0.5 */ +#define b8ONETENTH 0x001a /* 0.1 (acutally 0.1015625) */ +#define b8ONEHUNDRTH 0x0003 /* 0.01 (actualy 0.0117198765) */ + +#define b8MAX 0x7fff /* Max value of b8_t */ +#define ub8MAX 0xffff /* Max value of rb8_t */ +#define b8MIN 0x8000 /* Min value of b8_t */ +#define ub8MIN 0x0000 /* Min value of ub8_t */ + +#define b16THOUSAND 0x03e80000 /* 1000 */ +#define b16HUNDRED 0x00640000 /* 100 */ +#define b16TEN 0x000a0000 /* 10 */ +#define b16ONE 0x00010000 /* 1 */ +#define b16HALF 0x00008000 /* 0.5 */ +#define b16ONETENTH 0x0000199a /* 0.1 (actually 0.100006..) */ +#define b16ONEHUNDRTH 0x0000028f /* 0.01 (actually 0.0099945..) */ +#define b16ONETHOUSTH 0x00000042 /* 0.001 (actually 0.000100708..)*/ + +#define b16MAX 0x7fffffff /* Max value of b16_t */ +#define ub16MAX 0xffffffff /* Max value of ub16_t */ +#define b16MIN 0x80000000 /* Min value of b16_t */ +#define ub16MIN 0x00000000 /* Min value of ub16_t */ + +#define b32MILLION 0x000f424000000000 /* 1000000 */ +#define b32THOUSAND 0x000003e800000000 /* 1000 */ +#define b32HUNDRED 0x0000006400000000 /* 100 */ +#define b32TEN 0x0000000a00000000 /* 10 */ +#define b32ONE 0x0000000100000000 /* 1 */ +#define b32HALF 0x0000000080000000 /* 0.5 */ +#define b32ONETENTH 0x000000001999999a /* 0.1 */ +#define b32ONEHUNDRTH 0x00000000028f5c29 /* 0.01 */ +#define b32ONETHOUSTH 0x0000000000418937 /* 0.001 */ +#define b32ONETENTHOU 0x0000000000068db9 /* 0.0001 */ + +#define b32MAX 0x7fffffffffffffff /* Max value of b16_t */ +#define ub32MAX 0xffffffffffffffff /* Max value of ub16_t */ +#define b32MIN 0x8000000000000000 /* Min value of b16_t */ +#define ub32MIN 0x0000000000000000 /* Min value of ub16_t */ + +/* Conversions between b16 and b8 *****************************************/ + +#define b8tob16(b) ((b16_t)(b) << 8) +#define ub8toub16(b) ((ub16_t)(b) << 8) +#define b16tob8(b) (b8_t)(((b)+0x0080)>>8) +#define ub16toub8(b) (ub8_t)(((b)+0x0080)>>8) + +#ifdef CONFIG_HAVE_LONG_LONG +# define b8tob32(b) ((b32_t)(b) << 24) +# define ub8toub32(b) ((ub32_t)(b) << 24) +# define b16tob32(b) ((b32_t)(b) << 16) +# define ub16toub32(b) ((ub32_t)(b) << 16) +# define b32tob16(b) (b16_t)(((b) + 0x0000000000008000)>>16) +# define ub32toub16(b) (ub16_t)(((b) + 0x0000000000008000)>>16) +# define b32tob8(b) (b8_t)(((b) + 0x0000000000000080)>>8) +#endif + +/* 16-bit values with 8 bits of precision *********************************/ + +/* Conversions */ + +#define b8toi(a) ((a) >> 8) /* Conversion to integer */ +#define itob8(i) ((i) << 8) /* Conversion from integer */ +#define b8tof(b) (((float)b)/256.0) /* Conversion to float */ +#define ftob8(f) (b8_t)(((f)*256.0)) /* Conversion from float */ +#define b8trunc(a) ((a) & 0xff00) /* Truncate to integer b8 */ +#define b8round(a) (((a)+0x0080) & 0xff00) /* Round to integer b8 */ +#define b8frac(a) ((a) & 0x00ff) /* Take fractional part */ + +/* Operators */ + +#define ub8inv(b) (0x8000/((b)>>1)) /* Inversion (b8=b15/b7) */ +#define b8inv(b) (0x4000/((b)>>2)) /* Inversion (b8=b14/b6) */ +#define b8addb8(a,b) ((a)+(b)) /* Addition */ +#define b8addi(a,i) ((a)+itob8(i)) /* Add integer from b16 */ +#define b8subb8(a,b) ((a)-(b)) /* Subtraction */ +#define b8subi(a,i) ((a)-itob8(i)) /* Subtract integer from b8 */ +#define b8mulb8(a,b) b16tob8((b16_t)(a)*(b16_t)(b) /* Muliplication */ +#define ub8mulub8(a,b) ub16toub8((ub16_t)(a)*(ub16_t)(b) /* Muliplication */ +#define b8muli(a,i) ((a)*(i)) /* Simple multiplication by integer */ +#define b8divb8(a,b) b8tob16(a)/(b16_t)(b) /* Division */ +#define ub8divub8(a,b) ub8toub16(a)/(ub16_t)(b) /* Division */ +#define b8divi(a,i) ((a)/(i)) /* Simple division by integer */ +#define b8idiv(i,j) (((i)<<8)/j) /* Division of integer, b8 result */ + +/* 32-bit values with 16 bits of precision ********************************/ + +/* Conversions */ + +#define b16toi(a) ((a) >> 16) /* Conversion to integer */ +#define itob16(i) ((i) << 16) /* Conversion from integer */ +#define b16tof(b) (((float)b)/65536.0) /* Conversion to float */ +#define ftob16(f) (b16_t)(((f)*65536.0)) /* Conversion from float */ +#define b16trunc(a) ((a) & 0xffff0000) /* Truncate to integer */ +#define b16round(a) (((a)+0x00008000) & 0xffff0000) +#define b16frac(a) ((a) & 0x0000ffff) /* Take fractional part */ + +/* Operators */ + +#define ub16inv(b) (0x80000000/((b)>>1)) /* Inversion (b16=b31/b15) */ +#define b16inv(b) (0x40000000/((b)>>2)) /* Inversion (b16=b30/b14) */ +#define b16addb16(a,b) ((a)+(b)) /* Addition */ +#define b16addi(a,i) ((a)+itob16(i)) /* Add integer to b16 */ +#define b16subb16(a,b) ((a)-(b)) /* Subtraction */ +#define b16subi(a,i) ((a)-itob16(i)) /* Subtract integer from b16 */ +#define b16muli(a,i) ((a)*(i)) /* Simple multiplication by integer */ +#define b16divi(a,i) ((a)/(i)) /* Simple division by integer*/ +#define b16idiv(i,j) (((i)<<16)/j) /* Division of integer, b16 result */ + +#ifdef CONFIG_HAVE_LONG_LONG +# define b16mulb16(a,b) b32tob16((b32_t)(a)*(b32_t)(b) /* Muliplication */ +# define ub16mulub16(a,b) ub32toub16((ub32_t)(a)*(ub32_t)(b) +# define b16divb16(a,b) b16tob32(a)/(b32_t)(b) /* Division */ +# define ub16divub16(a,b) ub16toub32(a)/(ub32_t)(b) +#endif + +/************************************************************************** + * Public Types + **************************************************************************/ + +typedef sint16 b8_t; +typedef uint16 ub8_t; +typedef sint32 b16_t; +typedef uint32 ub16_t; +#ifdef CONFIG_HAVE_LONG_LONG +typedef sint64 b32_t; +typedef uint64 ub32_t; +#endif + +/************************************************************************** + * Global Functions + **************************************************************************/ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +#ifndef CONFIG_HAVE_LONG_LONG +EXTERN b16_t b16mulb16(b16_t m1, b16_t m2); +EXTERN ub16_t ub16mulub16(ub16_t m1, ub16_t m2); +EXTERN b16_t b16divb16(b16_t num, b16_t denom); +EXTERN ub16_t ub16divub16(ub16_t num, ub16_t denom); +#endif + +#undef EXTERN +#if defined(__cplusplus) +} +#endif +#endif /* __INCLUDE_FIXEDMATH_H */ |