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std.h
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std.h
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/*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi 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, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*
* a couple of fundamentals used in the avr code
*
*/
#ifndef STD_H
#define STD_H
#include <inttypes.h>
//#include <stdbool.h>
#include <math.h>
/* some helper macros */
#define DO_PRAGMA(x) _Pragma (#x)
#define VALUE_TO_STRING(x) #x
#define VALUE(x) VALUE_TO_STRING(x)
/* some convenience macros to print debug/config messages at compile time */
#define MESSAGE(x) DO_PRAGMA(message (x))
#define TODO(x) DO_PRAGMA(message ("TODO - " x))
#define INFO(x) DO_PRAGMA(message ("Info: " x))
#define INFO_VALUE(x,v) DO_PRAGMA(message ("Info: " x VALUE(v)))
#define INFO_VAR(var) DO_PRAGMA(message ("INFO: " #var " = " VALUE(var)))
/* only if PRINT_CONFIG is true */
#if PRINT_CONFIG
#define PRINT_CONFIG_MSG(x) DO_PRAGMA(message ("Config: " x))
#define PRINT_CONFIG_MSG_VALUE(x,v) DO_PRAGMA(message ("Config: " x VALUE(v))
#define PRINT_CONFIG_VAR(var) DO_PRAGMA(message ("Config: " #var " = " VALUE(var)))
#else
#define PRINT_CONFIG_MSG(x)
#define PRINT_CONFIG_MSG_VALUE(x,v)
#define PRINT_CONFIG_VAR(var)
#endif
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE (!FALSE)
#endif
#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *)0)
#endif
#endif
/* Boolean values */
typedef uint8_t bool_t;
/* Unit (void) values */
typedef uint8_t unit_t;
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_4
#define M_PI_4 (M_PI/4)
#endif
#ifndef M_PI_2
#define M_PI_2 (M_PI/2)
#endif
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
#ifndef bit_is_set
#define bit_is_set(x, b) ((x >> b) & 0x1)
#endif
#ifndef _BV
#define _BV(bit) (1 << (bit))
#endif
#define SetBit(a, n) a |= (1 << n)
#define ClearBit(a, n) a &= ~(1 << n)
#define NormRadAngle(x) { \
while (x > M_PI) x -= 2 * M_PI; \
while (x < -M_PI) x += 2 * M_PI; \
}
#define DegOfRad(x) ((x) * (180. / M_PI))
#define DeciDegOfRad(x) ((x) * (1800./ M_PI))
#define RadOfDeg(x) ((x) * (M_PI/180.))
#define Min(x,y) (x < y ? x : y)
#define Max(x,y) (x > y ? x : y)
#ifndef ABS
#define ABS(val) ((val) < 0 ? -(val) : (val))
#endif
#define Bound(_x, _min, _max) { if (_x > _max) _x = _max; else if (_x < _min) _x = _min; }
#define BoundInverted(_x, _min, _max) { \
if ((_x < _min) && (_x > _max)) { \
if (abs(_x - _min) < abs(_x - _max)) \
_x = _min; \
else \
_x = _max; \
} \
}
#define BoundWrapped(_x, _min, _max) { \
if (_max > _min) \
Bound(_x, _min, _max) \
else \
BoundInverted(_x, _min, _max) \
}
#define BoundAbs(_x, _max) Bound(_x, -(_max), (_max))
#define Chop(_x, _min, _max) ( (_x) < (_min) ? (_min) : (_x) > (_max) ? (_max) : (_x) )
#define ChopAbs(x, max) Chop(x, -max, max)
#define DeadBand(_x, _v) { \
if (_x > _v) \
_x = _x -_v; \
else if (_x < -_v) \
_x = _x +_v; \
else \
_x = 0; \
}
#define Blend(a, b, rho) (((rho)*(a))+(1-(rho))*(b))
#define ScalarProduct(x1,y1,x2,y2) ((x1)*(x2)+(y1)*(y2))
#define RunOnceEvery(_prescaler, _code) { \
static uint16_t prescaler = 0; \
prescaler++; \
if (prescaler >= _prescaler) { \
prescaler = 0; \
_code; \
} \
}
#define RunXTimesEvery(_jumpstart, _prescaler, _interval, _xtimes, _code) { \
static uint16_t prescaler = _jumpstart; \
static uint16_t xtimes = 0; \
prescaler++; \
if (prescaler >= _prescaler + _interval*xtimes && xtimes < _xtimes) { \
_code; \
xtimes++; \
} \
if (xtimes >= _xtimes) { \
xtimes = 0; \
prescaler = 0; \
} \
}
#define PeriodicPrescaleBy5( _code_0, _code_1, _code_2, _code_3, _code_4) { \
static uint8_t _50hz = 0; \
_50hz++; \
if (_50hz >= 5) _50hz = 0; \
switch (_50hz) { \
case 0: \
_code_0; \
break; \
case 1: \
_code_1; \
break; \
case 2: \
_code_2; \
break; \
case 3: \
_code_3; \
break; \
case 4: \
_code_4; \
break; \
} \
}
#define PeriodicPrescaleBy10( _code_0, _code_1, _code_2, _code_3, _code_4, _code_5, _code_6, _code_7, _code_8, _code_9) { \
static uint8_t _cnt = 0; \
_cnt++; \
if (_cnt >= 10) _cnt = 0; \
switch (_cnt) { \
case 0: \
_code_0; \
break; \
case 1: \
_code_1; \
break; \
case 2: \
_code_2; \
break; \
case 3: \
_code_3; \
break; \
case 4: \
_code_4; \
break; \
case 5: \
_code_5; \
break; \
case 6: \
_code_6; \
break; \
case 7: \
_code_7; \
break; \
case 8: \
_code_8; \
break; \
case 9: \
default: \
_code_9; \
break; \
} \
}
#endif /* STD_H */