From fb28f426da565b807b08cb4b7e6b661a73d6fe6d Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Tue, 3 Nov 2015 11:46:39 -0200
Subject: [PATCH] AP_Math: remove check for AVR CPUs

Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
---
 libraries/AP_Math/AP_Math.h                      | 14 +++++---------
 libraries/AP_Math/examples/location/location.cpp |  4 ----
 libraries/AP_Math/location.cpp                   |  5 -----
 libraries/AP_Math/matrix3.cpp                    |  2 --
 libraries/AP_Math/matrix3.h                      |  4 +---
 libraries/AP_Math/vector3.cpp                    |  2 --
 libraries/AP_Math/vector3.h                      |  4 +---
 7 files changed, 7 insertions(+), 28 deletions(-)

diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index c6604ddc7f..47495b071d 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -37,11 +37,9 @@
 
 //GPS Specific double precision conversions
 //The precision here does matter when using the wsg* functions for converting
-//between LLH and ECEF coordinates. Test code in examlpes/location/location.pde
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
-	#define DEG_TO_RAD_DOUBLE 0.0174532925199432954743716805978692718781530857086181640625  // equals to (M_PI / 180.0)
-	#define RAD_TO_DEG_DOUBLE 57.29577951308232286464772187173366546630859375               // equals to (180.0 / M_PI)
-#endif
+//between LLH and ECEF coordinates. Test code in examlpes/location/location.cpp
+#define DEG_TO_RAD_DOUBLE 0.0174532925199432954743716805978692718781530857086181640625  // equals to (M_PI / 180.0)
+#define RAD_TO_DEG_DOUBLE 57.29577951308232286464772187173366546630859375               // equals to (180.0 / M_PI)
 
 #define RadiansToCentiDegrees(x) ((x) * 5729.5779513082320876798154814105f)
 
@@ -157,17 +155,15 @@ bool locations_are_same(const struct Location &loc1, const struct Location &loc2
  */
 void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon);
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 // Converts from WGS84 geodetic coordinates (lat, lon, height)
 // into WGS84 Earth Centered, Earth Fixed (ECEF) coordinates
 // (X, Y, Z)
 void wgsllh2ecef(const Vector3d &llh, Vector3d &ecef);
 
-// Converts from WGS84 Earth Centered, Earth Fixed (ECEF) 
-// coordinates (X, Y, Z), into WHS84 geodetic 
+// Converts from WGS84 Earth Centered, Earth Fixed (ECEF)
+// coordinates (X, Y, Z), into WHS84 geodetic
 // coordinates (lat, lon, height)
 void wgsecef2llh(const Vector3d &ecef, Vector3d &llh);
-#endif
 
 // constrain a value
 // constrain a value
diff --git a/libraries/AP_Math/examples/location/location.cpp b/libraries/AP_Math/examples/location/location.cpp
index f10554b919..bd48253bb8 100644
--- a/libraries/AP_Math/examples/location/location.cpp
+++ b/libraries/AP_Math/examples/location/location.cpp
@@ -234,7 +234,6 @@ static void test_wrap_cd(void)
     hal.console->printf("wrap_cd tests done\n");
 }
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 static void test_wgs_conversion_functions(void)
 {
 
@@ -319,7 +318,6 @@ static void test_wgs_conversion_functions(void)
 
     }
 }
-#endif //HAL_CPU_CLASS
 
 /*
  *  polygon tests
@@ -330,9 +328,7 @@ void setup(void)
     test_offset();
     test_accuracy();
     test_wrap_cd();
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
     test_wgs_conversion_functions();
-#endif
     hal.console->printf("ALL TESTS DONE\n");
 }
 
diff --git a/libraries/AP_Math/location.cpp b/libraries/AP_Math/location.cpp
index 6130cb0990..db8e0c0248 100644
--- a/libraries/AP_Math/location.cpp
+++ b/libraries/AP_Math/location.cpp
@@ -246,8 +246,6 @@ void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon)
     s->printf("%ld.%07ld",(long)dec_portion,(long)frac_portion);
 }
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
-
 void wgsllh2ecef(const Vector3d &llh, Vector3d &ecef) {
   double d = WGS84_E * sin(llh[0]);
   double N = WGS84_A / sqrt(1. - d*d);
@@ -349,6 +347,3 @@ void wgsecef2llh(const Vector3d &ecef, Vector3d &llh) {
   llh[0] = copysign(1.0, ecef[2]) * atan(S / (e_c*C));
   llh[2] = (p*e_c*C + fabs(ecef[2])*S - WGS84_A*e_c*A_n) / sqrt(e_c*e_c*C*C + S*S);
 }
-
-#endif
-
diff --git a/libraries/AP_Math/matrix3.cpp b/libraries/AP_Math/matrix3.cpp
index 53e2a201ce..b2e915845c 100644
--- a/libraries/AP_Math/matrix3.cpp
+++ b/libraries/AP_Math/matrix3.cpp
@@ -244,7 +244,6 @@ template Matrix3<float> Matrix3<float>::operator *(const Matrix3<float> &m) cons
 template Matrix3<float> Matrix3<float>::transposed(void) const;
 template Vector2<float> Matrix3<float>::mulXY(const Vector3<float> &v) const;
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 template void Matrix3<double>::zero(void);
 template void Matrix3<double>::rotate(const Vector3<double> &g);
 template void Matrix3<double>::rotateXY(const Vector3<double> &g);
@@ -256,4 +255,3 @@ template Vector3<double> Matrix3<double>::mul_transpose(const Vector3<double> &v
 template Matrix3<double> Matrix3<double>::operator *(const Matrix3<double> &m) const;
 template Matrix3<double> Matrix3<double>::transposed(void) const;
 template Vector2<double> Matrix3<double>::mulXY(const Vector3<double> &v) const;
-#endif
diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h
index f620b1fa25..c7bd9d236a 100644
--- a/libraries/AP_Math/matrix3.h
+++ b/libraries/AP_Math/matrix3.h
@@ -241,8 +241,6 @@ typedef Matrix3<uint16_t>               Matrix3ui;
 typedef Matrix3<int32_t>                Matrix3l;
 typedef Matrix3<uint32_t>               Matrix3ul;
 typedef Matrix3<float>                  Matrix3f;
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
-    typedef Matrix3<double>                 Matrix3d;
-#endif
+typedef Matrix3<double>                 Matrix3d;
 
 #endif // MATRIX3_H
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index a343580a0f..145e4a685a 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -385,7 +385,6 @@ template bool Vector3<float>::is_nan(void) const;
 template bool Vector3<float>::is_inf(void) const;
 template float Vector3<float>::angle(const Vector3<float> &v) const;
 
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 template void Vector3<double>::rotate(enum Rotation);
 template float Vector3<double>::length(void) const;
 template Vector3<double> Vector3<double>::operator %(const Vector3<double> &v) const;
@@ -406,4 +405,3 @@ template bool Vector3<double>::operator !=(const Vector3<double> &v) const;
 template bool Vector3<double>::is_nan(void) const;
 template bool Vector3<double>::is_inf(void) const;
 template float Vector3<double>::angle(const Vector3<double> &v) const;
-#endif
diff --git a/libraries/AP_Math/vector3.h b/libraries/AP_Math/vector3.h
index a00c3fe937..186a18d3a6 100644
--- a/libraries/AP_Math/vector3.h
+++ b/libraries/AP_Math/vector3.h
@@ -217,8 +217,6 @@ typedef Vector3<uint16_t>               Vector3ui;
 typedef Vector3<int32_t>                Vector3l;
 typedef Vector3<uint32_t>               Vector3ul;
 typedef Vector3<float>                  Vector3f;
-#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
-    typedef Vector3<double>                 Vector3d;
-#endif
+typedef Vector3<double>                 Vector3d;
 
 #endif // VECTOR3_H