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152 lines
5.1 KiB
C
152 lines
5.1 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file defines.h
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*
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* Generally used magic defines
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*/
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#pragma once
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#include <sys/ioctl.h>
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#include <px4_boardconfig.h>
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/****************************************************************************
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* Defines for all platforms.
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****************************************************************************/
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#define PX4_ERROR (-1)
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#define PX4_OK 0
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/* Define PX4_ISFINITE */
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#ifdef __cplusplus
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static inline constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
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static inline constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
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#else
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#define PX4_ISFINITE(x) __builtin_isfinite(x)
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#endif /* __cplusplus */
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#if defined(__PX4_NUTTX)
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/****************************************************************************
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* NuttX specific defines.
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****************************************************************************/
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#define PX4_ROOTFSDIR ""
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#define PX4_STORAGEDIR PX4_ROOTFSDIR CONFIG_BOARD_ROOT_PATH
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#define _PX4_IOC(x,y) _IOC(x,y)
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// mode for open with O_CREAT
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#define PX4_O_MODE_777 0777
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#define PX4_O_MODE_666 0666
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#define PX4_O_MODE_600 0600
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#elif defined(__PX4_POSIX)
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/****************************************************************************
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* POSIX Specific defines
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****************************************************************************/
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// Flag is meaningless on Linux
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#ifndef O_BINARY
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#define O_BINARY 0
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#endif
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// mode for open with O_CREAT
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#define PX4_O_MODE_777 (S_IRWXU | S_IRWXG | S_IRWXO)
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#define PX4_O_MODE_666 (S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH )
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#define PX4_O_MODE_600 (S_IRUSR | S_IWUSR)
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// NuttX _IOC is equivalent to Linux _IO
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#define _PX4_IOC(x,y) _IO(x,y)
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#define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC)
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#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
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__BEGIN_DECLS
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extern long PX4_TICKS_PER_SEC;
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__END_DECLS
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#define PX4_ROOTFSDIR CONFIG_BOARD_ROOT_PATH
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// Qurt doesn't have an SD card for storage
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#ifndef __PX4_QURT
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#define PX4_STORAGEDIR PX4_ROOTFSDIR
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#endif
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/****************************************************************************
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* Defines for POSIX and ROS
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****************************************************************************/
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#define OK 0
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#define ERROR -1
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#define MAX_RAND 32767
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#endif // defined(__PX4_POSIX)
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/* Math macro's for float literals. Do not use M_PI et al as they aren't
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* defined (neither C nor the C++ standard define math constants) */
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#define M_E_F 2.71828183f
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#define M_LOG2E_F 1.44269504f
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#define M_LOG10E_F 0.43429448f
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#define M_LN2_F 0.69314718f
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#define M_LN10_F 2.30258509f
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#define M_PI_F 3.14159265f
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#define M_TWOPI_F 6.28318531f
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#define M_PI_2_F 1.57079632f
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#define M_PI_4_F 0.78539816f
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#define M_3PI_4_F 2.35619449f
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#define M_SQRTPI_F 1.77245385f
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#define M_1_PI_F 0.31830989f
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#define M_2_PI_F 0.63661977f
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#define M_2_SQRTPI_F 1.12837917f
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#define M_DEG_TO_RAD_F 0.0174532925f
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#define M_RAD_TO_DEG_F 57.2957795f
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#define M_SQRT2_F 1.41421356f
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#define M_SQRT1_2_F 0.70710678f
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#define M_LN2LO_F 1.90821484E-10f
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#define M_LN2HI_F 0.69314718f
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#define M_SQRT3_F 1.73205081f
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#define M_IVLN10_F 0.43429448f // 1 / log(10)
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#define M_LOG2_E_F 0.69314718f
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#define M_INVLN2_F 1.44269504f // 1 / log(2)
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/* The M_PI, as stated above, is not C standard. If you need it and
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* it isn't in your math.h file then you can use this instead. */
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#ifndef M_PI
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#define M_PI 3.141592653589793238462643383279502884
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#endif
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#define M_DEG_TO_RAD 0.017453292519943295
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#define M_RAD_TO_DEG 57.295779513082323
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