math_utils.h
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#ifndef __MATH_UTILS_H
#define __MATH_UTILS_H
#include "math.h"
#include "stdint.h"
#include "tva.h"
#define _constraint(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
#define _PI 3.14159265358f
#define _2PI 6.28318530718f
#define _3PI_2 4.71238898038f
#define _DtoR 0.01745329251f
#define _RtoD 57.295779513f
typedef struct
{
float Q; // 过程噪声协方差 初始化值为0.001
float R; // 观测噪声协方差 初始化值为0.543
} KFP_CONFIG;
typedef struct
{
float LastP; // 上次估算协方差 初始化值为0.02
float Now_P; // 当前估算协方差 初始化值为0
float out; // 卡尔曼滤波器输出 初始化值为0
float Kg; // 卡尔曼增益 初始化值为0
KFP_CONFIG config;
} KFP; // Kalman Filter parameter
typedef struct
{
float Tf; //!< Low pass filter time constant
float y_prev; //!< filtered value in previous execution step
TimeRec_s timeS; //!< Last execution timestamp
} LowPassFSTD_s;
typedef struct
{
float Tf; //!< Low pass filter time constant
float y_prev; //!< filtered value in previous execution step
float ringSet; //!< 设置环大小数值将会限制在 ( -ringSet 到 ringSet 之间 )
TimeRec_s timeS; //!< Last execution timestamp
} LowPassFSTDRing_s;
void LowPassFilter(float *value); // 低通滤波器
void LowPassFilter1(float *value); // 低通滤波器
int kalmanFilter_Init(KFP *kfp, KFP_CONFIG config);
float kalmanFilter(KFP *kfp, float input);
uint16_t intervalFilter(uint16_t input);
// CUT## 区间滤波设置
uint16_t inter_filter_GetRange();
int inter_filter_SetRange(uint16_t range);
uint16_t inter_filterC1_GetRange();
int inter_filterC1_SetRange(uint16_t range);
uint16_t inter_filter(uint16_t x);
uint16_t inter_filterC1(uint16_t x);
// float KalmanFilter_A(float ResrcData);
// float kalmanFilter_B(float inData);
// void kalmanFilter_Set_R(float input);
// void kalmanFilter_Set_Q(float input);
void LowPassFilterSTD_Init(LowPassFSTD_s *config, float Tf);
float LowPassFilterSTD_Process(LowPassFSTD_s *config, float x);
void LowPassFilterSTDRing_Init(LowPassFSTDRing_s *config, float Tf, float ringRange);
float LowPassFilterSTDRing_Process_EX(LowPassFSTDRing_s *config, float x, float y_prev);
float _normalizeAngle(float angle); // normalizing radian angle to [0, 2pi]
float calculateArcMidpointAngle(float angle1, float angle2);
#endif