#ifndef dsp_h #define dsp_h /* dsp.h */ /* asserv - Position & speed motor control on a ATmega128. {{{ * * Copyright (C) 2004 Nicolas Schodet * * Robot APB Team/Efrei 2005. * Web: http://assos.efrei.fr/robot/ * Email: robot AT efrei DOT fr * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include /* +AutoDec */ /** Add two signed words and saturate. UNTESTED. */ extern inline int16_t dsp_add_sat_i16i16 (int16_t a, int16_t b); /** Multiply signed 16 by fixed unsigned 8.8. */ extern inline int16_t dsp_mul_i16f88 (int16_t a, uint16_t b); /* -AutoDec */ #include "dsp.c" #endif /* dsp_h */