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fixedpoint.h

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/*
 * $Id: fixedpoint.h,v 1.2 2006/07/16 06:11:17 derek Exp $
 *
 * fixedpoint.h - Fixed point library routines to perform
 *                16.16 fixed point math.
 *
 * Copyright (C) 2003 David A. Smith
 *
 * This library is distributed under the terms of the GNU Lesser General
 * Public License (LGPL).  You should have received a copy of the
 * license along with this library (LGPL.txt); if not, write to
 * the Free Software Foundation, Inc., 59 Temple Place, Suite 330,
 * Boston, MA  02111-1307  USA
 */

#ifndef __FIXEDPOINT_H__
#define __FIXEDPOINT_H__
#include <hardware/types.h>
typedef int32 FIXED_POINT;
typedef FIXED_POINT FIXED_RADIAN;
typedef FIXED_POINT FIXED_MILLIMETER;
typedef FIXED_POINT FIXED_WRENCH_EFFORT;
typedef FIXED_POINT FIXED_SPEED;
typedef FIXED_POINT FIXED_CENTIMETER;
//  #define FIXED_CENTIMETER FIXED_POINT
//  #define FIXED_SPEED FIXED_POINT
//  #define FIXED_MILLIMETER FIXED_POINT
  #define FIXED_METER      FIXED_POINT
//  #define FIXED_POSITION FIXED_POINT
//  #define FIXED_RADIAN FIXED_POINT
//  #define FIXED_DEGREE FIXED_POINT
//  #define FIXED_WRENCH_EFFORT FIXED_POINT


//#define FIXED_POINT int32

#ifdef __cplusplus
extern "C" {
#endif

#define INT_TO_FIXED(x)         ((x) << 16)
#define DOUBLE_TO_FIXED(x)      ((long)((x) * 65536.0 + 0.5))
#define FIXED_TO_INT(x)         ((x) >> 16)
#define FIXED_TO_DOUBLE(x)      (((double)x) / 65536.0)
#define ROUND_FIXED_TO_INT(x)   (((x) + 0x8000) >> 16)

#define FIXED_ONE       INT_TO_FIXED(1)
#define FIXED_TWO       0x20000L
#define FIXED_FOUR      0x40000L
#define FIXED_8         0x80000L
#define FIXED_10        0xA0000L
#define FIXED_1000      0x3E80000L
#define FIXED_90        0x5A0000L
#define FIXED_180       0xB40000L
#define FIXED_MINUS_1   -65536L
/* DOUBLE_TO_FIXED(RADIAN_CONVERSION) */
/* DOUBLE_TO_FIXED(DEGREE_CONVERSION) */
#define FIXED_RADIAN_CONVERSION 0x478L 
#define FIXED_DEGREE_CONVERSION 0x394C4AL
#define FIXED_POINT_1   DOUBLE_TO_FIXED(0.1)
#define FIXED_POINT_005 DOUBLE_TO_FIXED(0.005)
#define FIXED_POINT_03  DOUBLE_TO_FIXED(0.03)
#define FIXED_POINT_35  DOUBLE_TO_FIXED(0.35)
#define FIXED_POINT_15  DOUBLE_TO_FIXED(0.15)
#define FIXED_POINT_1_1  DOUBLE_TO_FIXED(1.1)
#define FIXED_PIDIV4     51472L
#define FIXED_PIDIV2    102944L
#define FIXED_PI        205887L
#define FIXED_2PI       411775L
#define FIXED_E         178144L
#define FIXED_LN2        45426L
#define FIXED_SQRT2              92682L

int32 fpmul(int32 x, int32 y);

int32 fpdiv(int32 x, int32 y);

int32 fpsqrt(int32 x);

int32 fpsin(int32 x);

int32 fpcos(int32 x);

int32 fptan(int32 x);

int32 fpatan(int32 x);

int32 fpexp(int32 x);

int32 fpln(int32 x);

#ifdef __cplusplus
}
#endif

#endif

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