mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
245 lines
7.4 KiB
C
245 lines
7.4 KiB
C
/*
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* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*
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* a couple of fundamentals used in the avr code
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*
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*/
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#ifndef STD_H
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#define STD_H
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#include <inttypes.h>
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#include <stdbool.h>
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#include <math.h>
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/* some convenience macros to print debug/config messages at compile time */
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#include "message_pragmas.h"
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/* stringify a define, e.g. one that was not quoted */
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#define _STRINGIFY(s) #s
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#define STRINGIFY(s) _STRINGIFY(s)
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#ifndef FALSE
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#define FALSE false
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#endif
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#ifndef TRUE
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#define TRUE true
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#endif
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#ifndef NULL
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#ifdef __cplusplus
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#define NULL 0
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#else
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#define NULL ((void *)0)
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#endif
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#endif
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/* Unit (void) values */
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typedef uint8_t unit_t;
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#ifndef M_PI_4
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#define M_PI_4 (M_PI/4)
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#endif
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#ifndef M_PI_2
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#define M_PI_2 (M_PI/2)
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#endif
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#ifndef bit_is_set
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#define bit_is_set(x, b) ((x >> b) & 0x1)
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#endif
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#ifndef _BV
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#define _BV(bit) (1 << (bit))
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#endif
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#define SetBit(a, n) a |= (1 << n)
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#define ClearBit(a, n) a &= ~(1 << n)
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#define NormRadAngle(x) { \
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while (x > M_PI) x -= 2 * M_PI; \
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while (x < -M_PI) x += 2 * M_PI; \
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}
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#define DegOfRad(x) ((x) * (180. / M_PI))
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#define DeciDegOfRad(x) ((x) * (1800./ M_PI))
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#define RadOfDeg(x) ((x) * (M_PI/180.))
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#define RadOfDeciDeg(x) ((x) * (M_PI/1800.))
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#define MOfCm(_x) (((float)(_x))/100.)
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#define MOfMm(_x) (((float)(_x))/1000.)
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#define Min(x,y) (x < y ? x : y)
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#define Max(x,y) (x > y ? x : y)
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#ifndef ABS
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#define ABS(val) ((val) < 0 ? -(val) : (val))
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#endif
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#define BoundUpper(_x, _max) { if (_x > (_max)) _x = (_max);}
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#define Bound(_x, _min, _max) { if (_x > (_max)) _x = (_max); else if (_x < (_min)) _x = (_min); }
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#define BoundInverted(_x, _min, _max) { \
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if ((_x < (_min)) && (_x > (_max))) { \
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if (abs(_x - (_min)) < abs(_x - (_max))) \
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_x = (_min); \
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else \
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_x = (_max); \
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} \
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}
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#define BoundWrapped(_x, _min, _max) { \
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if ((_max) > (_min)) \
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Bound(_x, _min, _max) \
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else \
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BoundInverted(_x, _min, _max) \
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}
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#define BoundAbs(_x, _max) Bound(_x, -(_max), (_max))
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#define Chop(_x, _min, _max) ( (_x) < (_min) ? (_min) : (_x) > (_max) ? (_max) : (_x) )
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#define ChopAbs(x, max) Chop(x, -(max), (max))
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#define DeadBand(_x, _v) { \
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if (_x > (_v)) \
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_x = _x -(_v); \
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else if (_x < -(_v)) \
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_x = _x +(_v); \
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else \
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_x = 0; \
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}
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#define Blend(a, b, rho) (((rho)*(a))+(1-(rho))*(b))
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#define RunOnceEvery(_prescaler, _code) { \
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static uint16_t prescaler = 0; \
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prescaler++; \
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if (prescaler >= _prescaler) { \
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prescaler = 0; \
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_code; \
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} \
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}
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#define RunXTimesEvery(_jumpstart, _prescaler, _interval, _xtimes, _code) { \
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static uint16_t prescaler = _jumpstart; \
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static uint16_t xtimes = 0; \
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prescaler++; \
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if (prescaler >= _prescaler + _interval*xtimes && xtimes < _xtimes) { \
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_code; \
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xtimes++; \
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} \
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if (xtimes >= _xtimes) { \
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xtimes = 0; \
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prescaler = 0; \
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} \
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}
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#define PeriodicPrescaleBy5( _code_0, _code_1, _code_2, _code_3, _code_4) { \
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static uint8_t _50hz = 0; \
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_50hz++; \
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if (_50hz >= 5) _50hz = 0; \
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switch (_50hz) { \
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case 0: \
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_code_0; \
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break; \
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case 1: \
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_code_1; \
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break; \
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case 2: \
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_code_2; \
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break; \
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case 3: \
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_code_3; \
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break; \
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case 4: \
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_code_4; \
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break; \
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} \
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}
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#define PeriodicPrescaleBy10( _code_0, _code_1, _code_2, _code_3, _code_4, _code_5, _code_6, _code_7, _code_8, _code_9) { \
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static uint8_t _cnt = 0; \
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_cnt++; \
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if (_cnt >= 10) _cnt = 0; \
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switch (_cnt) { \
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case 0: \
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_code_0; \
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break; \
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case 1: \
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_code_1; \
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break; \
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case 2: \
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_code_2; \
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break; \
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case 3: \
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_code_3; \
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break; \
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case 4: \
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_code_4; \
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break; \
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case 5: \
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_code_5; \
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break; \
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case 6: \
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_code_6; \
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break; \
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case 7: \
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_code_7; \
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break; \
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case 8: \
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_code_8; \
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break; \
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case 9: \
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default: \
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_code_9; \
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break; \
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} \
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}
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static inline bool str_equal(const char *a, const char *b)
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{
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int i = 0;
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while (!(a[i] == 0 && b[i] == 0)) {
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if (a[i] != b[i]) { return FALSE; }
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i++;
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}
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return TRUE;
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}
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#ifdef __GNUC__
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# define UNUSED __attribute__((__unused__))
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# define WEAK __attribute__((weak))
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#else
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# define UNUSED
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# define WEAK
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#endif
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#if __GNUC__ >= 7
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# define INTENTIONAL_FALLTHRU __attribute__ ((fallthrough));
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#else
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# define INTENTIONAL_FALLTHRU
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#endif
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#endif /* STD_H */
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