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Maths.h
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Maths.h
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/***********************************************************************************************************************
MMBasic for Windows
Maths.h
<COPYRIGHT HOLDERS> Geoff Graham, Peter Mather
Copyright (c) 2021, <COPYRIGHT HOLDERS> All rights reserved.
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. The name MMBasic be used when referring to the interpreter in any documentation and promotional material and the original copyright message be displayed
on the console at startup (additional copyright messages may be added).
4. All advertising materials mentioning features or use of this software must display the following acknowledgement: This product includes software developed
by the <copyright holder>.
5. Neither the name of the <copyright holder> 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 <COPYRIGHT HOLDERS> 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 <COPYRIGHT HOLDERS> 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.
************************************************************************************************************************/
/**********************************************************************************
the C language function associated with commands, functions or operators should be
declared here
**********************************************************************************/
#if !defined(INCLUDE_COMMAND_TABLE) && !defined(INCLUDE_TOKEN_TABLE)
//void cmd_FFT(void);
void cmd_math(void);
void fun_math(void);
#endif
/**********************************************************************************
All command tokens tokens (eg, PRINT, FOR, etc) should be inserted in this table
**********************************************************************************/
#ifdef INCLUDE_COMMAND_TABLE
{ (unsigned char *)"Math", T_CMD, 0, cmd_math },
#endif
/**********************************************************************************
All other tokens (keywords, functions, operators) should be inserted in this table
**********************************************************************************/
#ifdef INCLUDE_TOKEN_TABLE
{ (unsigned char*)"Math(", T_FUN | T_NBR | T_INT, 0, fun_math },
#endif
#if !defined(INCLUDE_COMMAND_TABLE) && !defined(INCLUDE_TOKEN_TABLE)
// General definitions used by other modules
#define MMFLOAT double
#define M_PI 3.14159265358979323846
#define CRC4_DEFAULT_POLYNOME 0x03
#define CRC4_ITU 0x03
// CRC 8
#define CRC8_DEFAULT_POLYNOME 0x07
#define CRC8_DVB_S2 0xD5
#define CRC8_AUTOSAR 0x2F
#define CRC8_BLUETOOTH 0xA7
#define CRC8_CCITT 0x07
#define CRC8_DALLAS_MAXIM 0x31 // oneWire
#define CRC8_DARC 0x39
#define CRC8_GSM_B 0x49
#define CRC8_SAEJ1850 0x1D
#define CRC8_WCDMA 0x9B
// CRC 12
#define CRC12_DEFAULT_POLYNOME 0x080D
#define CRC12_CCITT 0x080F
#define CRC12_CDMA2000 0x0F13
#define CRC12_GSM 0x0D31
// CRC 16
#define CRC16_DEFAULT_POLYNOME 0x1021
#define CRC16_CHAKRAVARTY 0x2F15
#define CRC16_ARINC 0xA02B
#define CRC16_CCITT 0x1021
#define CRC16_CDMA2000 0xC867
#define CRC16_DECT 0x0589
#define CRC16_T10_DIF 0x8BB7
#define CRC16_DNP 0x3D65
#define CRC16_IBM 0x8005
#define CRC16_OPENSAFETY_A 0x5935
#define CRC16_OPENSAFETY_B 0x755B
#define CRC16_PROFIBUS 0x1DCF
// CRC 32
#define CRC32_DEFAULT_POLYNOME 0x04C11DB7
#define CRC32_ISO3309 0x04C11DB7
#define CRC32_CASTAGNOLI 0x1EDC6F41
#define CRC32_KOOPMAN 0x741B8CD7
#define CRC32_KOOPMAN_2 0x32583499
#define CRC32_Q 0x814141AB
// CRC 64
#define CRC64_DEFAULT_POLYNOME 0x42F0E1EBA9EA3693
#define CRC64_ECMA64 0x42F0E1EBA9EA3693
#define CRC64_ISO64 0x000000000000001B
extern void Q_Mult(MMFLOAT* q1, MMFLOAT* q2, MMFLOAT* n);
extern void Q_Invert(MMFLOAT* q, MMFLOAT* n);
extern void cmd_SensorFusion(char* passcmdline);
void MahonyQuaternionUpdate(MMFLOAT ax, MMFLOAT ay, MMFLOAT az, MMFLOAT gx, MMFLOAT gy, MMFLOAT gz, MMFLOAT mx, MMFLOAT my, MMFLOAT mz, MMFLOAT Ki, MMFLOAT Kp, MMFLOAT deltat, MMFLOAT* yaw, MMFLOAT* pitch, MMFLOAT* roll);
void MadgwickQuaternionUpdate(MMFLOAT ax, MMFLOAT ay, MMFLOAT az, MMFLOAT gx, MMFLOAT gy, MMFLOAT gz, MMFLOAT mx, MMFLOAT my, MMFLOAT mz, MMFLOAT beta, MMFLOAT deltat, MMFLOAT* pitch, MMFLOAT* yaw, MMFLOAT* roll);
extern volatile unsigned int AHRSTimer;
extern "C" unsigned char*** alloc3df(int l, int m, int n);
extern "C" void dealloc3df(uint8_t * **array, int l, int m, int n);
#endif