mirror of https://github.com/ArduPilot/ardupilot
253 lines
9.1 KiB
C
253 lines
9.1 KiB
C
/*
|
|
LUFA Library
|
|
Copyright (C) Dean Camera, 2010.
|
|
|
|
dean [at] fourwalledcubicle [dot] com
|
|
www.fourwalledcubicle.com
|
|
*/
|
|
|
|
/*
|
|
Copyright 2010 Dean Camera (dean [at] fourwalledcubicle [dot] com)
|
|
|
|
Permission to use, copy, modify, distribute, and sell this
|
|
software and its documentation for any purpose is hereby granted
|
|
without fee, provided that the above copyright notice appear in
|
|
all copies and that both that the copyright notice and this
|
|
permission notice and warranty disclaimer appear in supporting
|
|
documentation, and that the name of the author not be used in
|
|
advertising or publicity pertaining to distribution of the
|
|
software without specific, written prior permission.
|
|
|
|
The author disclaim all warranties with regard to this
|
|
software, including all implied warranties of merchantability
|
|
and fitness. In no event shall the author be liable for any
|
|
special, indirect or consequential damages or any damages
|
|
whatsoever resulting from loss of use, data or profits, whether
|
|
in an action of contract, negligence or other tortious action,
|
|
arising out of or in connection with the use or performance of
|
|
this software.
|
|
*/
|
|
|
|
/** \file
|
|
* \brief Common library convenience macros and functions.
|
|
*
|
|
* This file contains macros which are common to all library elements, and which may be useful in user code. It
|
|
* also includes other common headers, such as Atomic.h, Attributes.h and BoardTypes.h.
|
|
*/
|
|
|
|
/** @defgroup Group_Common Common Utility Headers - LUFA/Drivers/Common/Common.h
|
|
*
|
|
* Common utility headers containing macros, functions, enums and types which are common to all
|
|
* aspects of the library.
|
|
*
|
|
* @{
|
|
*/
|
|
|
|
/** @defgroup Group_Debugging Debugging Macros
|
|
*
|
|
* Macros for debugging use.
|
|
*/
|
|
|
|
/** @defgroup Group_BitManip Endian and Bit Macros
|
|
*
|
|
* Functions for swapping endianness and reversing bit orders.
|
|
*/
|
|
|
|
#ifndef __COMMON_H__
|
|
#define __COMMON_H__
|
|
|
|
/* Includes: */
|
|
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
#include "Attributes.h"
|
|
#include "BoardTypes.h"
|
|
|
|
/* Public Interface - May be used in end-application: */
|
|
/* Macros: */
|
|
/** Macro for encasing other multi-statement macros. This should be used along with an opening brace
|
|
* before the start of any multi-statement macro, so that the macros contents as a whole are treated
|
|
* as a discrete block and not as a list of separate statements which may cause problems when used as
|
|
* a block (such as inline IF statements).
|
|
*/
|
|
#define MACROS do
|
|
|
|
/** Macro for encasing other multi-statement macros. This should be used along with a preceding closing
|
|
* brace at the end of any multi-statement macro, so that the macros contents as a whole are treated
|
|
* as a discrete block and not as a list of separate statements which may cause problems when used as
|
|
* a block (such as inline IF statements).
|
|
*/
|
|
#define MACROE while (0)
|
|
|
|
/** Defines a volatile NOP statement which cannot be optimized out by the compiler, and thus can always
|
|
* be set as a breakpoint in the resulting code. Useful for debugging purposes, where the optimiser
|
|
* removes/reorders code to the point where break points cannot reliably be set.
|
|
*
|
|
* \ingroup Group_Debugging
|
|
*/
|
|
#define JTAG_DEBUG_POINT() asm volatile ("NOP" ::)
|
|
|
|
/** Defines an explicit JTAG break point in the resulting binary via the ASM BREAK statement. When
|
|
* a JTAG is used, this causes the program execution to halt when reached until manually resumed.
|
|
*
|
|
* \ingroup Group_Debugging
|
|
*/
|
|
#define JTAG_DEBUG_BREAK() asm volatile ("BREAK" ::)
|
|
|
|
/** Macro for testing condition "x" and breaking via JTAG_DEBUG_BREAK() if the condition is false.
|
|
*
|
|
* \ingroup Group_Debugging
|
|
*/
|
|
#define JTAG_DEBUG_ASSERT(x) MACROS{ if (!(x)) { JTAG_DEBUG_BREAK(); } }MACROE
|
|
|
|
/** Macro for testing condition "x" and writing debug data to the stdout stream if false. The stdout stream
|
|
* must be pre-initialized before this macro is run and linked to an output device, such as the AVR's USART
|
|
* peripheral.
|
|
*
|
|
* The output takes the form "{FILENAME}: Function {FUNCTION NAME}, Line {LINE NUMBER}: Assertion {x} failed."
|
|
*
|
|
* \ingroup Group_Debugging
|
|
*/
|
|
#define STDOUT_ASSERT(x) MACROS{ if (!(x)) { printf_P(PSTR("%s: Function \"%s\", Line %d: " \
|
|
"Assertion \"%s\" failed.\r\n"), \
|
|
__FILE__, __func__, __LINE__, #x); } }MACROE
|
|
|
|
#if !defined(pgm_read_ptr) || defined(__DOXYGEN__)
|
|
/** Reads a pointer out of PROGMEM space. This is currently a wrapper for the avr-libc pgm_read_ptr()
|
|
* macro with a void* cast, so that its value can be assigned directly to a pointer variable or used
|
|
* in pointer arithmetic without further casting in C. In a future avr-libc distribution this will be
|
|
* part of the standard API and will be implemented in a more formal manner.
|
|
*
|
|
* \param[in] Addr Address of the pointer to read.
|
|
*
|
|
* \return Pointer retrieved from PROGMEM space.
|
|
*/
|
|
#define pgm_read_ptr(Addr) (void*)pgm_read_word(Addr)
|
|
#endif
|
|
|
|
/** Swaps the byte ordering of a 16-bit value at compile time. Do not use this macro for swapping byte orderings
|
|
* of dynamic values computed at runtime, use \ref SwapEndian_16() instead. The result of this macro can be used
|
|
* inside struct or other variable initializers outside of a function, something that is not possible with the
|
|
* inline function variant.
|
|
*
|
|
* \param[in] x 16-bit value whose byte ordering is to be swapped.
|
|
*
|
|
* \return Input value with the byte ordering reversed.
|
|
*/
|
|
#define SWAPENDIAN_16(x) ((((x) & 0xFF00) >> 8) | (((x) & 0x00FF) << 8))
|
|
|
|
/** Swaps the byte ordering of a 32-bit value at compile time. Do not use this macro for swapping byte orderings
|
|
* of dynamic values computed at runtime- use \ref SwapEndian_32() instead. The result of this macro can be used
|
|
* inside struct or other variable initializers outside of a function, something that is not possible with the
|
|
* inline function variant.
|
|
*
|
|
* \param[in] x 32-bit value whose byte ordering is to be swapped.
|
|
*
|
|
* \return Input value with the byte ordering reversed.
|
|
*/
|
|
#define SWAPENDIAN_32(x) ((((x) & 0xFF000000UL) >> 24UL) | (((x) & 0x00FF0000UL) >> 8UL) | \
|
|
(((x) & 0x0000FF00UL) << 8UL) | (((x) & 0x000000FFUL) << 24UL))
|
|
|
|
/* Inline Functions: */
|
|
/** Function to reverse the individual bits in a byte - i.e. bit 7 is moved to bit 0, bit 6 to bit 1,
|
|
* etc.
|
|
*
|
|
* \ingroup Group_BitManip
|
|
*
|
|
* \param[in] Byte Byte of data whose bits are to be reversed.
|
|
*/
|
|
static inline uint8_t BitReverse(uint8_t Byte) ATTR_WARN_UNUSED_RESULT ATTR_CONST;
|
|
static inline uint8_t BitReverse(uint8_t Byte)
|
|
{
|
|
Byte = (((Byte & 0xF0) >> 4) | ((Byte & 0x0F) << 4));
|
|
Byte = (((Byte & 0xCC) >> 2) | ((Byte & 0x33) << 2));
|
|
Byte = (((Byte & 0xAA) >> 1) | ((Byte & 0x55) << 1));
|
|
|
|
return Byte;
|
|
}
|
|
|
|
/** Function to reverse the byte ordering of the individual bytes in a 16 bit number.
|
|
*
|
|
* \ingroup Group_BitManip
|
|
*
|
|
* \param[in] Word Word of data whose bytes are to be swapped.
|
|
*/
|
|
static inline uint16_t SwapEndian_16(const uint16_t Word) ATTR_WARN_UNUSED_RESULT ATTR_CONST;
|
|
static inline uint16_t SwapEndian_16(const uint16_t Word)
|
|
{
|
|
uint8_t Temp;
|
|
|
|
union
|
|
{
|
|
uint16_t Word;
|
|
uint8_t Bytes[2];
|
|
} Data;
|
|
|
|
Data.Word = Word;
|
|
|
|
Temp = Data.Bytes[0];
|
|
Data.Bytes[0] = Data.Bytes[1];
|
|
Data.Bytes[1] = Temp;
|
|
|
|
return Data.Word;
|
|
}
|
|
|
|
/** Function to reverse the byte ordering of the individual bytes in a 32 bit number.
|
|
*
|
|
* \ingroup Group_BitManip
|
|
*
|
|
* \param[in] DWord Double word of data whose bytes are to be swapped.
|
|
*/
|
|
static inline uint32_t SwapEndian_32(const uint32_t DWord) ATTR_WARN_UNUSED_RESULT ATTR_CONST;
|
|
static inline uint32_t SwapEndian_32(const uint32_t DWord)
|
|
{
|
|
uint8_t Temp;
|
|
|
|
union
|
|
{
|
|
uint32_t DWord;
|
|
uint8_t Bytes[4];
|
|
} Data;
|
|
|
|
Data.DWord = DWord;
|
|
|
|
Temp = Data.Bytes[0];
|
|
Data.Bytes[0] = Data.Bytes[3];
|
|
Data.Bytes[3] = Temp;
|
|
|
|
Temp = Data.Bytes[1];
|
|
Data.Bytes[1] = Data.Bytes[2];
|
|
Data.Bytes[2] = Temp;
|
|
|
|
return Data.DWord;
|
|
}
|
|
|
|
/** Function to reverse the byte ordering of the individual bytes in a n byte number.
|
|
*
|
|
* \ingroup Group_BitManip
|
|
*
|
|
* \param[in,out] Data Pointer to a number containing an even number of bytes to be reversed.
|
|
* \param[in] Bytes Length of the data in bytes.
|
|
*/
|
|
static inline void SwapEndian_n(void* Data,
|
|
uint8_t Bytes) ATTR_NON_NULL_PTR_ARG(1);
|
|
static inline void SwapEndian_n(void* Data,
|
|
uint8_t Bytes)
|
|
{
|
|
uint8_t* CurrDataPos = (uint8_t*)Data;
|
|
|
|
while (Bytes > 1)
|
|
{
|
|
uint8_t Temp = *CurrDataPos;
|
|
*CurrDataPos = *(CurrDataPos + Bytes - 1);
|
|
*(CurrDataPos + Bytes - 1) = Temp;
|
|
|
|
CurrDataPos++;
|
|
Bytes -= 2;
|
|
}
|
|
}
|
|
|
|
#endif
|
|
|
|
/** @} */
|