68 lines
1.8 KiB
C
68 lines
1.8 KiB
C
#ifndef AHRS_MIDDLEWARE_H
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#define AHRS_MIDDLEWARE_H
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#include "struct_typedef.h"
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/**
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****************************(C) COPYRIGHT 2016 DJI****************************
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* @file AHRS_MiddleWare.c/h
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* @brief 姿态解算中间层，为姿态解算提供相关函数
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* @note
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* @history
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* Version Date Author Modification
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* V1.0.0 Dec-26-2018 RM 1. 完成
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*
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@verbatim
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==============================================================================
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==============================================================================
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@endverbatim
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****************************(C) COPYRIGHT 2016 DJI****************************
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*/
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//重新对应的数据类型
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// typedef signed char int8_t;
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// typedef signed short int int16_t;
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// typedef signed int int32_t;
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// typedef signed long long int64_t;
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// /* exact-width unsigned integer types */
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// typedef unsigned char uint8_t;
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// typedef unsigned short int uint16_t;
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// typedef unsigned int uint32_t;
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// typedef unsigned long long uint64_t;
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// typedef unsigned char bool_t;
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// typedef float fp32;
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// typedef double fp64;
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//定义 NULL
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#ifndef NULL
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#define NULL 0
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#endif
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//定义PI 值
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#ifndef PI
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#define PI 3.14159265358979f
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#endif
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//定义 角度(度)转换到 弧度的比例
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#ifndef ANGLE_TO_RAD
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#define ANGLE_TO_RAD 0.01745329251994329576923690768489f
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#endif
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//定义 弧度 转换到 角度的比例
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#ifndef RAD_TO_ANGLE
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#define RAD_TO_ANGLE 57.295779513082320876798154814105f
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#endif
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extern void AHRS_get_height(fp32 *high);
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extern void AHRS_get_latitude(fp32 *latitude);
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extern fp32 AHRS_invSqrt(fp32 num);
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extern fp32 AHRS_sinf(fp32 angle);
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extern fp32 AHRS_cosf(fp32 angle);
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extern fp32 AHRS_tanf(fp32 angle);
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extern fp32 AHRS_asinf(fp32 sin);
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extern fp32 AHRS_acosf(fp32 cos);
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extern fp32 AHRS_atan2f(fp32 y, fp32 x);
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#endif
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