rotator_internal.h

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/*
 * Copyright 2017-2018 Leo McCormack
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
 * REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
 * INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
 * LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR
 * OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
 * PERFORMANCE OF THIS SOFTWARE.
 */

 
#ifndef __ROTATOR_INTERNAL_H_INCLUDED__
#define __ROTATOR_INTERNAL_H_INCLUDED__
 
#include "rotator.h"       /* Include header for this example */
#include "saf.h"           /* Main include header for SAF */
#include "saf_externals.h" /* To also include SAF dependencies (cblas etc.) */
 
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
 
/* ========================================================================== */
/*                            Internal Parameters                             */
/* ========================================================================== */
 
#if !defined(ROTATOR_FRAME_SIZE)
# if defined(FRAME_SIZE) /* Use the global framesize if it is specified: */
#  define ROTATOR_FRAME_SIZE ( FRAME_SIZE ) 
# else /* Otherwise, the default framesize for this example is: */
#  define ROTATOR_FRAME_SIZE ( 64 )         
# endif
#endif
 
/* ========================================================================== */
/*                                 Structures                                 */
/* ========================================================================== */

typedef enum {
    M_ROT_READY = 1,           
    M_ROT_RECOMPUTE_EULER,     
    M_ROT_RECOMPUTE_QUATERNION 
} M_ROT_STATUS;

typedef struct _rotator
{
    /* Internal buffers */
    float inputFrameTD[MAX_NUM_SH_SIGNALS][ROTATOR_FRAME_SIZE];         
    float prev_inputFrameTD[MAX_NUM_SH_SIGNALS][ROTATOR_FRAME_SIZE];    
    float tempFrame[MAX_NUM_SH_SIGNALS][ROTATOR_FRAME_SIZE];            
    float tempFrame_fadeOut[MAX_NUM_SH_SIGNALS][ROTATOR_FRAME_SIZE];    
    float outputFrameTD[MAX_NUM_SH_SIGNALS][ROTATOR_FRAME_SIZE];        
    float outputFrameTD_fadeIn[MAX_NUM_SH_SIGNALS][ROTATOR_FRAME_SIZE]; 
 
    /* Internal variables */
    float interpolator_fadeIn[ROTATOR_FRAME_SIZE];       
    float interpolator_fadeOut[ROTATOR_FRAME_SIZE];      
    float M_rot[MAX_NUM_SH_SIGNALS][MAX_NUM_SH_SIGNALS];      
    float prev_M_rot[MAX_NUM_SH_SIGNALS][MAX_NUM_SH_SIGNALS]; 
    M_ROT_STATUS M_rot_status;      
    int fs;                         
 
    /* user parameters */
    quaternion_data Q;              
    int bFlipQuaternion;            
    float yaw;                      
    float roll;                     
    float pitch;                    
    int bFlipYaw;                   
    int bFlipPitch;                 
    int bFlipRoll;                  
    int useRollPitchYawFlag;        
    CH_ORDER chOrdering;            
    NORM_TYPES norm;                
    SH_ORDERS inputOrder;            
    
} rotator_data;
    
    
#ifdef __cplusplus
} /* extern "C" { */
#endif /* __cplusplus */
 
#endif /* __ROTATOR_INTERNAL_H_INCLUDED__ */