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1<?xml version='1.0' encoding='UTF-8' standalone='no'?>
2<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
3  <compounddef id="fixed_8cpp" kind="file">
4    <compoundname>fixed.cpp</compoundname>
5    <includes refid="fixed_8h" local="yes">fixed.h</includes>
6    <incdepgraph>
7      <node id="751">
8        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp</label>
9        <link refid="fixed.cpp"/>
10        <childnode refid="752" relation="include">
11        </childnode>
12      </node>
13      <node id="752">
14        <label>fixed.h</label>
15        <link refid="fixed_8h-source"/>
16      </node>
17    </incdepgraph>
18      <sectiondef kind="func">
19      <memberdef kind="function" id="fixed_8cpp_198167cf2f2a56e52fe05495e1ac08678" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
20        <type>long</type>
21        <definition>long prevod</definition>
22        <argsstring>(double x, unsigned int posun)</argsstring>
23        <name>prevod</name>
24        <param>
25          <type>double</type>
26          <declname>x</declname>
27        </param>
28        <param>
29          <type>unsigned int</type>
30          <declname>posun</declname>
31        </param>
32        <briefdescription>
33        </briefdescription>
34        <detaileddescription>
35        </detaileddescription>
36        <inbodydescription>
37        </inbodydescription>
38        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="10" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="22" bodyend="33"/>
39      </memberdef>
40      <memberdef kind="function" id="fixed_8cpp_1621d21561d09502b53759d627511b688" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
41        <type>double</type>
42        <definition>double zprevod</definition>
43        <argsstring>(long x, unsigned int posun)</argsstring>
44        <name>zprevod</name>
45        <param>
46          <type>long</type>
47          <declname>x</declname>
48        </param>
49        <param>
50          <type>unsigned int</type>
51          <declname>posun</declname>
52        </param>
53        <briefdescription>
54        </briefdescription>
55        <detaileddescription>
56        </detaileddescription>
57        <inbodydescription>
58        </inbodydescription>
59        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="12" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="35" bodyend="44"/>
60      </memberdef>
61      <memberdef kind="function" id="fixed_8cpp_150d456f9c404f8c7e49246d61930c59c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
62        <type>long</type>
63        <definition>long nasob</definition>
64        <argsstring>(int x, int y, unsigned int posun)</argsstring>
65        <name>nasob</name>
66        <param>
67          <type>int</type>
68          <declname>x</declname>
69        </param>
70        <param>
71          <type>int</type>
72          <declname>y</declname>
73        </param>
74        <param>
75          <type>unsigned int</type>
76          <declname>posun</declname>
77        </param>
78        <briefdescription>
79        </briefdescription>
80        <detaileddescription>
81        </detaileddescription>
82        <inbodydescription>
83        </inbodydescription>
84        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="14" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="46" bodyend="60"/>
85      </memberdef>
86      <memberdef kind="function" id="fixed_8cpp_19aaf1455f6660d8566e6876236e3e3ab" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
87        <type>int</type>
88        <definition>int deleni15</definition>
89        <argsstring>(int x, int y)</argsstring>
90        <name>deleni15</name>
91        <param>
92          <type>int</type>
93          <declname>x</declname>
94        </param>
95        <param>
96          <type>int</type>
97          <declname>y</declname>
98        </param>
99        <briefdescription>
100        </briefdescription>
101        <detaileddescription>
102        </detaileddescription>
103        <inbodydescription>
104        </inbodydescription>
105        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="16" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="62" bodyend="71"/>
106      </memberdef>
107      <memberdef kind="function" id="fixed_8cpp_1ea13e9b9069cde6d7947242971c7780c" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
108        <type>int</type>
109        <definition>int deleni</definition>
110        <argsstring>(int x, int y, int posun1, int posun2, int scale, int posun_fin)</argsstring>
111        <name>deleni</name>
112        <param>
113          <type>int</type>
114          <declname>x</declname>
115        </param>
116        <param>
117          <type>int</type>
118          <declname>y</declname>
119        </param>
120        <param>
121          <type>int</type>
122          <declname>posun1</declname>
123        </param>
124        <param>
125          <type>int</type>
126          <declname>posun2</declname>
127        </param>
128        <param>
129          <type>int</type>
130          <declname>scale</declname>
131        </param>
132        <param>
133          <type>int</type>
134          <declname>posun_fin</declname>
135        </param>
136        <briefdescription>
137        </briefdescription>
138        <detaileddescription>
139        </detaileddescription>
140        <inbodydescription>
141        </inbodydescription>
142        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp" bodystart="73" bodyend="107"/>
143      </memberdef>
144      </sectiondef>
145    <briefdescription>
146    </briefdescription>
147    <detaileddescription>
148    </detaileddescription>
149    <programlisting>
150<codeline lineno="1"><highlight class="comment">/*<sp/></highlight></codeline>
151<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Operace<sp/>v<sp/>pevne<sp/>radove<sp/>carce</highlight></codeline>
152<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
153<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>9.10.2005</highlight></codeline>
154<codeline lineno="5"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
155<codeline lineno="6"><highlight class="normal"></highlight></codeline>
156<codeline lineno="7"><highlight class="normal"></highlight></codeline>
157<codeline lineno="8"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;fixed.h&quot;</highlight><highlight class="normal"></highlight></codeline>
158<codeline lineno="9"><highlight class="normal"></highlight></codeline>
159<codeline lineno="10"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>prevod(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
160<codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prevod<sp/>&quot;x&quot;<sp/>do<sp/>systemu<sp/>&quot;Qposun&quot;</highlight><highlight class="normal"></highlight></codeline>
161<codeline lineno="12"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>zprevod(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
162<codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prevod<sp/>&quot;x&quot;<sp/>ze<sp/>systemu<sp/>&quot;Qposun&quot;<sp/>do<sp/>DOUBLE</highlight><highlight class="normal"></highlight></codeline>
163<codeline lineno="14"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>nasob(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun);</highlight></codeline>
164<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(x*y)&gt;&gt;posun</highlight><highlight class="normal"></highlight></codeline>
165<codeline lineno="16"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
166<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(x*Q15/y)<sp/>se<sp/>saturaci</highlight><highlight class="normal"></highlight></codeline>
167<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>scale,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun_fin);</highlight></codeline>
168<codeline lineno="19"><highlight class="normal"></highlight><highlight class="comment">//<sp/>obecne<sp/>deleni:<sp/>x_&quot;Qposun1&quot;*&quot;Qscale&quot;/y_&quot;Qposun2&quot;<sp/>-&gt;<sp/>&quot;Q_posun_fin&quot;</highlight><highlight class="normal"></highlight></codeline>
169<codeline lineno="20"><highlight class="normal"></highlight></codeline>
170<codeline lineno="21"><highlight class="normal"><sp/><sp/></highlight></codeline>
171<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>prevod(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun)</highlight></codeline>
172<codeline lineno="23"><highlight class="normal">{</highlight></codeline>
173<codeline lineno="24"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>y,nasobic;</highlight></codeline>
174<codeline lineno="25"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>znamenko;</highlight></codeline>
175<codeline lineno="26"><highlight class="normal"><sp/><sp/></highlight></codeline>
176<codeline lineno="27"><highlight class="normal"><sp/><sp/>nasobic=(long)1&lt;&lt;posun;</highlight></codeline>
177<codeline lineno="28"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&gt;=0)<sp/>znamenko=1;</highlight></codeline>
178<codeline lineno="29"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>znamenko=-1;</highlight></codeline>
179<codeline lineno="30"><highlight class="normal"><sp/><sp/>y=(long)(x*nasobic+znamenko*0.5);</highlight></codeline>
180<codeline lineno="31"><highlight class="normal"><sp/><sp/></highlight></codeline>
181<codeline lineno="32"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>y;</highlight></codeline>
182<codeline lineno="33"><highlight class="normal">}</highlight></codeline>
183<codeline lineno="34"><highlight class="normal"></highlight></codeline>
184<codeline lineno="35"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>zprevod(</highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun)</highlight></codeline>
185<codeline lineno="36"><highlight class="normal">{</highlight></codeline>
186<codeline lineno="37"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>nasobic;</highlight></codeline>
187<codeline lineno="38"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y;</highlight></codeline>
188<codeline lineno="39"><highlight class="normal"><sp/><sp/></highlight></codeline>
189<codeline lineno="40"><highlight class="normal"><sp/><sp/>nasobic=(long)1&lt;&lt;posun;</highlight></codeline>
190<codeline lineno="41"><highlight class="normal"><sp/><sp/>y=(double)x/nasobic;</highlight></codeline>
191<codeline lineno="42"><highlight class="normal"><sp/><sp/></highlight></codeline>
192<codeline lineno="43"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>y;</highlight></codeline>
193<codeline lineno="44"><highlight class="normal">}</highlight></codeline>
194<codeline lineno="45"><highlight class="normal"></highlight></codeline>
195<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>nasob(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun)</highlight></codeline>
196<codeline lineno="47"><highlight class="normal">{</highlight></codeline>
197<codeline lineno="48"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>z,zaokrouhl;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zaokrouhl<sp/>...<sp/>zaokrouhlovani<sp/>vysledku<sp/>pricteni<sp/>0.5</highlight><highlight class="normal"></highlight></codeline>
198<codeline lineno="49"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>znamenko;</highlight></codeline>
199<codeline lineno="50"><highlight class="normal"><sp/><sp/></highlight></codeline>
200<codeline lineno="51"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(posun&gt;0)</highlight></codeline>
201<codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/>zaokrouhl=(long)1&lt;&lt;(posun-1);</highlight></codeline>
202<codeline lineno="53"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>zaokrouhl=0;</highlight></codeline>
203<codeline lineno="54"><highlight class="normal"><sp/><sp/>z=(long)x*y;</highlight></codeline>
204<codeline lineno="55"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(z&gt;=0)<sp/>znamenko=1;</highlight></codeline>
205<codeline lineno="56"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>znamenko=-1;</highlight></codeline>
206<codeline lineno="57"><highlight class="normal"><sp/><sp/>z=(z+znamenko*zaokrouhl)&gt;&gt;posun;</highlight></codeline>
207<codeline lineno="58"><highlight class="normal"><sp/><sp/></highlight></codeline>
208<codeline lineno="59"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
209<codeline lineno="60"><highlight class="normal">}</highlight></codeline>
210<codeline lineno="61"><highlight class="normal"></highlight></codeline>
211<codeline lineno="62"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni15(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>deleni<sp/>Q15/Q15<sp/>se<sp/>saturaci</highlight><highlight class="normal"></highlight></codeline>
212<codeline lineno="63"><highlight class="normal">{</highlight></codeline>
213<codeline lineno="64"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
214<codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight></codeline>
215<codeline lineno="66"><highlight class="normal"><sp/><sp/>z=(long)x*32768/y;</highlight></codeline>
216<codeline lineno="67"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(z&gt;32767)<sp/>z=32767;</highlight></codeline>
217<codeline lineno="68"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(z&lt;-32768)<sp/>z=-32768;<sp/><sp/></highlight></codeline>
218<codeline lineno="69"><highlight class="normal"><sp/><sp/></highlight></codeline>
219<codeline lineno="70"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal">)z;</highlight></codeline>
220<codeline lineno="71"><highlight class="normal">}</highlight></codeline>
221<codeline lineno="72"><highlight class="normal"></highlight></codeline>
222<codeline lineno="73"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>deleni(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>y,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun1,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun2,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>scale,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>posun_fin)<sp/><sp/></highlight></codeline>
223<codeline lineno="74"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
224<codeline lineno="75"><highlight class="comment">x/y<sp/><sp/><sp/><sp/>...<sp/>podil</highlight></codeline>
225<codeline lineno="76"><highlight class="comment">posun1<sp/>...<sp/>posun<sp/>x<sp/>(scale<sp/>faktor)</highlight></codeline>
226<codeline lineno="77"><highlight class="comment">posun2<sp/>...<sp/>posun<sp/>y</highlight></codeline>
227<codeline lineno="78"><highlight class="comment">scale<sp/><sp/>...<sp/>posun<sp/>pri<sp/>deleni<sp/>-<sp/>pomocny</highlight></codeline>
228<codeline lineno="79"><highlight class="comment">posun_fin<sp/>...<sp/>system,<sp/>ve<sp/>kterem<sp/>ma<sp/>byt<sp/>vysledek<sp/>(scale<sp/>faktor<sp/>vysledku)</highlight></codeline>
229<codeline lineno="80"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
230<codeline lineno="81"><highlight class="normal">{</highlight></codeline>
231<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
232<codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>bit_posun;</highlight></codeline>
233<codeline lineno="84"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>zz,<sp/>scale_fakt,<sp/>scale_fin;</highlight></codeline>
234<codeline lineno="85"><highlight class="normal"><sp/><sp/></highlight></codeline>
235<codeline lineno="86"><highlight class="normal"><sp/><sp/>scale_fakt=(long)1&lt;&lt;scale;</highlight></codeline>
236<codeline lineno="87"><highlight class="normal"><sp/><sp/>bit_posun=(posun1+scale-posun2)-posun_fin;</highlight></codeline>
237<codeline lineno="88"><highlight class="normal"><sp/><sp/></highlight></codeline>
238<codeline lineno="89"><highlight class="normal"><sp/><sp/>zz=(long)x*scale_fakt/y;</highlight></codeline>
239<codeline lineno="90"><highlight class="normal"></highlight></codeline>
240<codeline lineno="91"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(bit_posun&gt;=0)</highlight></codeline>
241<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/>zz=(int)(zz&gt;&gt;bit_posun);</highlight></codeline>
242<codeline lineno="93"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
243<codeline lineno="94"><highlight class="normal"><sp/><sp/>{<sp/>bit_posun*=-1;</highlight></codeline>
244<codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/>zz=(int)(zz&lt;&lt;bit_posun);</highlight></codeline>
245<codeline lineno="96"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
246<codeline lineno="97"><highlight class="normal"><sp/><sp/></highlight></codeline>
247<codeline lineno="98"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Saturace<sp/>vystupu</highlight><highlight class="normal"></highlight></codeline>
248<codeline lineno="99"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zz&gt;32767)</highlight></codeline>
249<codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/>z=32767;</highlight></codeline>
250<codeline lineno="101"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zz&lt;-32768)</highlight></codeline>
251<codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/>z=-32768;</highlight></codeline>
252<codeline lineno="103"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
253<codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/>z=zz;</highlight></codeline>
254<codeline lineno="105"><highlight class="normal"><sp/><sp/></highlight></codeline>
255<codeline lineno="106"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>z;</highlight></codeline>
256<codeline lineno="107"><highlight class="normal">}</highlight></codeline>
257    </programlisting>
258    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/fixed.cpp"/>
259  </compounddef>
260</doxygen>
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