mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 04:13:34 +08:00
Mark Charlebois
a99f916bdf
Also changed use of printf to PX4_WARN or PX4_INFO in posix and qurt tests. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
217 lines
6.2 KiB
C++
217 lines
6.2 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 px4_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 <px4_log.h>
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/* Get the name of the default value fiven the param name */
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#define PX4_PARAM_DEFAULT_VALUE_NAME(_name) PARAM_##_name##_DEFAULT
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/* Shortcuts to define parameters when the default value is defined according to PX4_PARAM_DEFAULT_VALUE_NAME */
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#define PX4_PARAM_DEFINE_INT32(_name) PARAM_DEFINE_INT32(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
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#define PX4_PARAM_DEFINE_FLOAT(_name) PARAM_DEFINE_FLOAT(_name, PX4_PARAM_DEFAULT_VALUE_NAME(_name))
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#define PX4_ERROR (-1)
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#define PX4_OK 0
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#if defined(__PX4_ROS)
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/*
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* Building for running within the ROS environment
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*/
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#define noreturn_function
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#ifdef __cplusplus
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#include "ros/ros.h"
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#endif
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/* Main entry point */
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#define PX4_MAIN_FUNCTION(_prefix) int main(int argc, char **argv)
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/* Get value of parameter by name, which is equal to the handle for ros */
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#define PX4_PARAM_GET_BYNAME(_name, _destpt) ros::param::get(_name, *_destpt)
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#elif defined(__PX4_NUTTX) || defined(__PX4_POSIX)
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/*
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* Building for NuttX or POSIX
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*/
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#include <platforms/px4_includes.h>
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/* Main entry point */
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#define PX4_MAIN_FUNCTION(_prefix) int _prefix##_task_main(int argc, char *argv[])
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/* Parameter handle datatype */
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#include <systemlib/param/param.h>
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typedef param_t px4_param_t;
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/* Get value of parameter by name */
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#define PX4_PARAM_GET_BYNAME(_name, _destpt) param_get(param_find(_name), _destpt)
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#else
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#error "No target OS defined"
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#endif
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/*
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* NuttX Specific defines
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*/
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#if defined(__PX4_NUTTX)
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/* XXX this is a hack to resolve conflicts with NuttX headers */
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#if !defined(__PX4_TESTS)
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#define isspace(c) \
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((c) == ' ' || (c) == '\t' || (c) == '\n' || \
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(c) == '\r' || (c) == '\f' || c== '\v')
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#endif
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#define _PX4_IOC(x,y) _IOC(x,y)
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#define px4_statfs_buf_f_bavail_t int
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#define PX4_ISFINITE(x) isfinite(x)
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/*
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* POSIX Specific defines
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*/
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#elif defined(__PX4_POSIX)
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// Flag is meaningless on Linux
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#define O_BINARY 0
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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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/* FIXME - Used to satisfy build */
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//STM DocID018909 Rev 8 Sect 39.1 (Unique device ID Register)
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#define UNIQUE_ID 0x1FFF7A10
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/* FIXME - Used to satisfy build */
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#define getreg32(a) (*(volatile uint32_t *)(a))
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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 USEC2TICK(x) (PX4_TICKS_PER_SEC*(long)(x)/1000000L)
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#define USEC_PER_TICK (1000000L/PX4_TICKS_PER_SEC)
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#define px4_statfs_buf_f_bavail_t unsigned long
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#endif
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/*
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* Defines for ROS and Linux
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*/
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#if defined(__PX4_ROS) || defined(__PX4_POSIX)
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#define OK 0
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#define ERROR -1
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#if defined(__PX4_QURT)
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#define M_PI 3.14159265358979323846
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#define M_PI_2 1.57079632679489661923
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__BEGIN_DECLS
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#include <math.h>
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__END_DECLS
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#else
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#include <math.h>
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#endif
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/* Float defines of the standard double length constants */
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#define M_E_F (float)M_E
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#define M_LOG2E_F (float)M_LOG2E
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#define M_LOG10E_F (float)M_LOG10E
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#define M_LN2_F (float)M_LN2
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#define M_LN10_F (float)M_LN10
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#define M_PI_F (float)M_PI
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#define M_TWOPI_F (M_PI_F * 2.0f)
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#define M_PI_2_F (float)M_PI_2
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#define M_PI_4_F (float)M_PI_4
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#define M_3PI_4_F (float)2.3561944901923448370E0f
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#define M_SQRTPI_F (float)1.77245385090551602792981f
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#define M_1_PI_F (float)M_1_PI
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#define M_2_PI_F (float)M_2_PI
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#define M_2_SQRTPI_F 1.12837916709551257390f
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#define M_DEG_TO_RAD_F 0.01745329251994f
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#define M_RAD_TO_DEG_F 57.2957795130823f
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#define M_SQRT2_F (float)M_SQRT2
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#define M_SQRT1_2_F (float)M_SQRT1_2
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#define M_LN2LO_F 1.9082149292705877000E-10f
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#define M_LN2HI_F 6.9314718036912381649E-1f
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#define M_SQRT3_F 1.73205080756887719000f
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#define M_IVLN10_F 0.43429448190325182765f /* 1 / log(10) */
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#define M_LOG2_E_F _M_LN2_F
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#define M_INVLN2_F 1.4426950408889633870E0f/* 1 / log(2) */
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#define M_DEG_TO_RAD 0.01745329251994
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#define M_RAD_TO_DEG 57.2957795130823
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#ifndef __PX4_QURT
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#if defined(__cplusplus)
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#define PX4_ISFINITE(x) std::isfinite(x)
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#else
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#define PX4_ISFINITE(x) isfinite(x)
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#endif
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#endif
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#endif
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#if defined(__PX4_QURT)
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#define SIOCDEVPRIVATE 999999
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// Missing math.h defines
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#define PX4_ISFINITE(x) isfinite(x)
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// FIXME - these are missing for clang++ but not for clang
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#if defined(__cplusplus)
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#define isfinite(x) true
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#define isnan(x) false
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#define isinf(x) false
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#define fminf(x, y) ((x) > (y) ? y : x)
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#endif
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#endif
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/*
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*Defines for all platforms
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*/
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/* wrapper for 2d matrices */
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#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y])
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/* wrapper for rotation matrices stored in arrays */
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#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
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