mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Felix Ruess
188 lines
4.2 KiB
C
188 lines
4.2 KiB
C
/*
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* $Id$
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*
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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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#ifndef FALSE
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#define FALSE 0
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#endif
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#ifndef TRUE
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#define TRUE (!FALSE)
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#endif
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/* Boolean values */
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typedef uint8_t bool_t;
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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 cbi
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#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
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#endif
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#ifndef sbi
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#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
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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 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 Bound(_x, _min, _max) { if (_x > _max) _x = _max; else if (_x < _min) _x = _min; }
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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 ScalarProduct(x1,y1,x2,y2) ((x1)*(x2)+(y1)*(y2))
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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 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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#endif /* STD_H */
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